000075622 001__ 75622 000075622 005__ 20181107105317.0 000075622 0247_ $$2doi$$a10.1109/LRA.2017.2739104 000075622 0248_ $$2sideral$$a105231 000075622 037__ $$aART-2018-105231 000075622 041__ $$aeng 000075622 100__ $$0(orcid)0000-0002-8949-2632$$aPerez-Yus, A.$$uUniversidad de Zaragoza 000075622 245__ $$aExtrinsic Calibration of Multiple RGB-D Cameras From Line Observations 000075622 260__ $$c2018 000075622 5060_ $$aAccess copy available to the general public$$fUnrestricted 000075622 5203_ $$aThis letter presents a novel method to estimate the relative poses between RGB and depth cameras without the requirement of an overlapping field of view, thus providing flexibility to calibrate a variety of sensor configurations. This calibration problem is relevant to robotic applications that can benefit of using several cameras to increase the field of view. In our approach, we extract and match lines of the scene in the RGB and depth cameras, and impose geometric constraints to find the relative poses between the sensors. An analysis of the observability properties of the problem is presented. We have validated our method in both synthetic and real scenarios with different camera configurations, demonstrating that our approach achieves good accuracy and is very simple to apply, in contrast with previous methods based on trajectory matching using visual odometry or simultaneous localization and mapping. 000075622 536__ $$9info:eu-repo/grantAgreement/ES/MINECO/BES-2013-065834$$9info:eu-repo/grantAgreement/ES/MINECO/DPI2014-61792-EXP$$9info:eu-repo/grantAgreement/ES/MINECO/DPI2015-65962-R 000075622 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000075622 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000075622 700__ $$aFernandez-Moral, E. 000075622 700__ $$0(orcid)0000-0001-9347-5969$$aLopez-Nicolas, G.$$uUniversidad de Zaragoza 000075622 700__ $$0(orcid)0000-0001-5209-2267$$aGuerrero, J.J.$$uUniversidad de Zaragoza 000075622 700__ $$aRives, P. 000075622 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000075622 773__ $$g3, 1 (2018), 273-280$$pIEEE Robot. autom. let.$$tIEEE ROBOTICS AND AUTOMATION LETTERS$$x2377-3766 000075622 8564_ $$s809264$$uhttps://zaguan.unizar.es/record/75622/files/texto_completo.pdf$$yPostprint 000075622 8564_ $$s78094$$uhttps://zaguan.unizar.es/record/75622/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000075622 909CO $$ooai:zaguan.unizar.es:75622$$particulos$$pdriver 000075622 951__ $$a2018-11-07-08:28:10 000075622 980__ $$aARTICLE