Rapid 3D Modeling and Parts Recognition on Automotive Vehicles Using a Network of RGB-D Sensors for Robot Guidance

Table 2

Internal extrinsic calibration of embedded sensors.

Translation (cm) and rotation (degree) between RGB and IR
Sensor	𝑇𝑥	𝑇𝑦	𝑇𝑧	𝑅𝑥	𝑅𝑦	𝑅𝑧
𝐾0	2.50	0.0231	0.3423	0.0017	0.0018	−0.0082
𝐾1	2.46	−0.0168	−0.1426	0.0049	0.0032	0.0112
𝐾2	2.41	−0.0426	−0.3729	0.0027	0.0065	−0.0075
𝐾3	2.49	0.0153	0.2572	−0.0046	0.0074	0.0035
𝐾4	2.47	0.0374	0.3120	0.0052	0.0035	0.0045