Joint Calibration of Binocular-ToF Camera and Docking Ring Correction

This paper presents the joint calibration of binocular and TOF and a simple application: docking ring correction. In the first part, a new joint calibration algorithm was proposed. Firstly, replace the traditional checkerboard calibration plate with a circular calibration plate. Secondly, the 2D-3D mapping is done via the TOF camera intensity map. The calibration results demonstrate the accuracy of the proposed method. In the second part, we first perform the extraction, reconstruction and correction of the docking ring and a scheme on how to obtain the true value of the normal vector of the docking ring was proposed. We hope that the content of this paper can provide a certain reference value for multi-sensor data fusion and other fields.