3D time-of-flight camera system and position/orientation calibration method therefor

摘要

A camera system comprises a 3D TOF camera for acquiring a camera-perspective range image of a scene and an image processor for processing the range image. The image processor contains a position and orientation calibration routine implemented therein in hardware and/or software, which position and orientation calibration routine, when executed by the image processor, detects one or more planes within a range image acquired by the 3D TOF camera, selects a reference plane among the at least one or more planes detected and computes position and orientation parameters of the 3D TOF camera with respect to the reference plane, such as, e.g., elevation above the reference plane and/or camera roll angle and/or camera pitch angle.