Range camera self-calibration with independent object space scale observations

The geometric calibration of range cameras can be performed by means of an integrated self-calibrating bundle adjustment of measurements to signalised targets. The calibration solution quality, as indicated by the correlation between the camera position and the rangefinder offset, is degraded by the need to use a planar target field. In this contribution the inclusion of inter-camera base distances and inter-target distances in the bundle adjustment are investigated. The results indicate that although neither measure can reduce the correlation, solution quality, as measured by independent image orientation, can be improved when long object distances are used in the self-calibration adjustment.