Journal of Geodesy and Geoinformation Science ›› 2021, Vol. 4 ›› Issue (4): 11-33.doi: 10.11947/j.JGGS.2021.0402

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A Review of RGB-D Camera Calibration Methods

Chenyang ZHANG1,2(),Teng HUANG2,Yueqian SHEN2()   

  1. 1. School of Civil Engineering and Architecture, Changzhou Institute of Technology, Changzhou 213032, China
    2. School of Earth Science and Engineering, Hohai University, Nanjing 211100, China
  • Received:2021-02-28 Accepted:2021-08-30 Online:2021-12-20 Published:2021-12-30
  • Contact: Yueqian SHEN;
  • About author:Chenyang ZHANG(1991—), male, PhD, engaged in photogrammetry and computer vision.E-mail:
  • Supported by:
    National Natural Science Foundation of China(41801379)


RGB-D camera is a new type of sensor, which can obtain the depth and texture information in an unknown 3D scene simultaneously, and they have been applied in various fields widely. In fact, when implementing such kinds of applications using RGB-D camera, it is necessary to calibrate it first. To the best of our knowledge, at present, there is no existing a systemic summary related to RGB-D camera calibration methods. Therefore, a systemic review of RGB-D camera calibration is concluded as follows. Firstly, the mechanism of obtained measurement and the related principle of RGB-D camera calibration methods are presented. Subsequently, as some specific applications need to fuse depth and color information, the calibration methods of relative pose between depth camera and RGB camera are introduced in Section 2. Then the depth correction models within RGB-D cameras are summarized and compared respectively in Section 3. Thirdly, considering that the angle of the view field of RGB-D camera is smaller and limited to some specific applications, we discuss the calibration models of relative pose among multiple RGB-D cameras in Section 4. At last, the direction and trend of RGB-D camera calibration are prospected and concluded.

Key words: RGB-D camera calibration; relative pose; depth correction; multiple RGB-D cameras