Improvements of the Accuracy of Generic Extrinsic Camera Calibration with ICP

For the extrinsic calibration of a camera system, a precise estimation of a set of calibration points is necessary.
However, there are influences that reduce the accuracy of point localization, such as lighting, exposure time, and thereby resulting in the over- and underexposure of the recorded images.
This paper demonstrates the influence of varying exposure times on the localization of ArUco calibration markers for generic ICP-based extrinsic calibration.
We evaluated the perceived location of the marker corners and thus their perceived size for various exposure times due to blur and overexposure.
Furthermore, we propose a method of enabling subpixel accuracy by combining adjacent rays with a weighted mean.
For all settings, we quantified the effect on the extrinsic camera calibration.
We found, that the markers appear smaller with increasing exposure times, which can be explained by blur of the marker borders.