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3D-cameras based on Time-of-Flight (ToF) technology have recently raised up to a commercial level of development. In this contribution,\udwe investigate the outdoor calibration and measurement capabilities of the SR4500 ToF camera. The proposed calibration method\udcombines up-to-date techniques with robust estimation. First, intrinsic camera parameters are estimated, which allows converting radial\uddistances into orthogonal ones. The latter are then calibrated using successive acquisitions of a plane at different camera positions,\udmeasured by tacheometric techniques. This distance calibration step estimates two coefficient matrices for each pixel, using linear\udregression. Experimental assessments carried out with a 3D laser-cloud after converting all the data in a common basis show that the\udobtained precision is twice better than with the constructor default calibration, with a full-frame accuracy of about 4 cm. Moreover,\udestimating the internal calibration in sunny and warm outdoor conditions yields almost the same coefficients as indoors. Finally, a test\udshows the feasibility of dynamic outdoor acquisitions and measurements

the international archives of the photogrammetry, remote sensing and spatial information sciences/international archives of the photogrammetry, remote sensing and spatial information sciences

CALIBRATION OF THE SR4500 TIME-OF-FLIGHT CAMERA FOR OUTDOOR MOBILE SURVEYING APPLICATIONS: A CASE STUDY