A Novel Self-Calibration Method for a Stereo-ToF System Using a Kinect V2 and Two 4K GoPro Cameras

A new light-field movie capture device using a Kinect V2 sensor and two 4K GoPro cameras is presented in this paper. Due to the uncontrollable tilt of the Kinect V2 camera, it is hard to obtain a constant rigid transformation between the stereo- and ToF-camera systems. To this end, a novel self-calibration method is proposed, which takes advantage of the geometric constraints from the scene and the cameras. Specifically, a camera orientation approximation approach is utilized to estimate the rigid transformation of the stereo-ToF system based on reliable point pairs filtered by the geometric constraints. Besides, a depth correction step is exploited to improve the depth accuracy of the Kinect V2 sensor. Moreover, a depth fusion strategy for the stereo- and ToF-depth data is proposed to provide more accurate depth images in 4K resolution. Experimental results demonstrate the effectiveness of the proposed depth correction step, stereo-ToF calibration method and depth fusion strategy.