Bi-objective Framework for Sensor Fusion in RGB-D Multi-View Systems: Applications in Calibration

Complete and textured 3D reconstruction of dynamic scenes has been facilitated by mapped RGB and depth information acquired by RGB-D cameras based multi-view systems. One of the most critical steps in such multi-view systems is to determine the relative poses of all cameras via a process known as extrinsic calibration. In this work, we propose a sensor fusion framework based on a weighted bi-objective optimization for refinement of extrinsic calibration tailored for RGB-D multi-view systems. The weighted bi-objective cost function, which makes use of 2D information from RGB images and 3D information from depth images, is analytically derived via the Maximum Likelihood (ML) method. The weigh…