Simultaneous Localization and Calibration: Self-Calibration of Consumer Depth Cameras

We describe an approach for simultaneous localization and calibration of a stream of range images. Our approach jointly optimizes the camera trajectory and a calibration function that corrects the camera's unknown nonlinear distortion. Experiments with real-world benchmark data and synthetic data show that our approach increases the accuracy of camera trajectories and geometric models estimated from range video produced by consumer-grade cameras.