An Extrinsic Depth Camera Calibration Method for Narrow Field of View Color Camera

This work designs and implements a calibration method between a narrow field of view camera and a depth camera in an endoscope-like scenario. An endoscopy-like scenario has a limited specular reflective surface, a camera with a narrow field of view. Instead of pushing the accuracy of the target marker with low-resolution data, we design a new loss function, which utilizes all of the three dimensions points of the checkerboard measured with the depth camera, and calculates the distance between projected 3D positions onto 2D image surface and the color image. The final re-projected error is improved to be less than 1 millimeters on average.