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Table 1 Mean calibration error and standard deviation for four cameras in 2-D and 3-D for two calibration approaches

From: Accurate laser scanner to camera calibration with application to range sensor evaluation

Camera

ICP 2-D (px)

Proposed 2-D (px)

ICP 3-D (cm)

Proposed 3-D (cm)

Kinect V2

1.172 ± 0.492

0.176 ± 0.084

1.113 ± 0.108

0.267 ± 0.064

CamBoard Pico Flexx

2.309 ± 0.509

0.305 ± 0.125

0.930 ± 0.124

0.319 ± 0.134

Astra

0.491 ± 0.232

0.418 ± 0.119

1.135 ± 0.444

0.126 ± 0.038

RealSense R200

1.124 ± 0.653

0.252 ± 0.121

0.880 ± 0.285

0.160 ± 0.109