Multi RGB-D camera setup for generating large 3D point clouds

Wim Lemkens, Prabhjot Kaur, Koen Buys, Peter Slaets, Tinne Tuytelaars, Joris De Schutter

Abstract: The advent of inexpensive RGB-D cameras brings new opportunities to capture a 3D environment. This paper presents a method to create a modular setup for generating a large 3D point cloud, with attention to the study of interference, the influence of a USB extension cable, and the calibration procedure. The study of interference includes the influence of the distance between the cameras, the orientation of the cameras, and the illumination. Furthermore, this paper proposes a number of evaluation metrics for similar setups.