Depth-Camera Calibration Optimization Method Based on Homography Matrix

A self-calibration method of the depth-camera based on homography matrix is proposed to improve the accuracy and ease of use in calibrating the depth-camera. Firstly, the shortcomings of the existing self-calibration methods are pointed out, and the internal conversion model of the depth-camera is established. Then, the proposed self-calibration mathematical model of the depth-camera is deduced according to the imaging relationship of image pairs, and the internal and external parameters of the depth-camera are obtained by solving the essential matrix and the corresponding matrix. Finally, the distortion parameters of the depth-camera are obtained by an immune clonal selection algorithm being used for optimizing the distortion model of the depth image. Compared with Zhang's calibration method, the relative errors of the focal length and the coordinates obtained by the proposed self-calibration calibration method are smaller, in addition it has a good restoration effect for the edge distortions of the depth images.