Method and system for calibrating extrinsic parameters between depth camera and visible light camera

A system for calibrating extrinsic parameters between a depth camera and a visible light camera, wherein the extrinsic calibration system is applied to a dual camera system, which comprises the depth camera and the visible light camera;

• the depth camera and the visible light camera have a fixed relative pose and compose a camera pair;
• the extrinsic calibration system comprises:
• a pose transformation module, configured to place a checkerboard plane in the field of view of the camera pair, and transform the checkerboard plane in a plurality of poses;
• a depth image and visible light image acquisition module, configured to shoot the checkerboard plane in different transformation poses, and acquire depth images and visible light images of the checkerboard plane in different transformation poses;
• a visible light checkerboard plane determination module, configured to determine visible light checkerboard planes of different transformation poses in a coordinate system of the visible light camera according to the visible light images;
• a depth checkerboard plane determination module, configured to determine depth checkerboard planes of different transformation poses in a coordinate system of the depth camera according to the depth images;
• a rotation matrix determination module, configured to determine a rotation matrix from the coordinate system of the depth camera to the coordinate system of the visible light camera according to the visible light checkerboard planes and the depth checkerboard planes;
• a translation vector determination module, configured to determine a translation vector from the coordinate system of the depth camera to the coordinate system of the visible light camera according to the rotation matrix;
• and
• a coordinate system alignment module, configured to rotate and translate the coordinate system of the depth camera according to the rotation matrix and the translation vector, so that the coordinate system of the depth camera coincides with the coordinate system of the visible light camera to complete the extrinsic calibration of the dual cameras.