Calibration of extrinsic parameters of a hybrid vision system for navigation comprising a very low resolution Time-of-Flight camera

A procedure to calibrate the relative position and orientation (extrinsic parameters) between a Time of Flight (ToF) camera and an RGB camera is presented. The proposed approach is particularly suited for ToF cameras characterized by very low resolution and a limited field of view. The presented experimental set-up is conceived to facilitate feature detection using both the ToF and RGB cameras. Three different methods for feature detection using the ToF camera, are described and their behaviors are evaluated and compared through experimental tests.