Optical sensors can capture dynamic environments and derive depth information in near real-time. The quality of these digital reconstructions is determined by factors like illumination, surface and texture conditions, sensing speed and other sensor characteristics as well as the sensor-object relations. Improvements can be obtained by using dynamically collected data from multiple sensors. However, matching the data from multiple sensors requires a shared world coordinate system. We present a concept for transferring multi-sensor data into a commonly referenced world coordinate system: the earth's magnetic field. The steady presence of our planetary magnetic field provides a reliable world coordinate system, which can serve as a reference for a position-defined reconstruction of dynamic environments. Our approach is evaluated using magnetic field sensors of the ZED 2 stereo camera from Stereolabs, which provides orientation relative to the North Pole similar to a compass. With the help of inertial measurement unit informations, each camera's position data can be transferred into the unified world coordinate system. Our evaluation reveals the level of quality possible using the earth magnetic field and allows a basis for dynamic and real-time-based applications of optical multi-sensors for environment detection.

翻译：光学传感器能够捕捉动态环境并近乎实时地获取深度信息。这些数字重建的质量取决于光照、表面与纹理条件、感知速度及其他传感器特性，以及传感器与目标物体之间的关系。通过使用多个传感器动态采集的数据可改进重建效果。然而，多传感器数据匹配需要共享的世界坐标系。我们提出一种将多传感器数据转换至通用参考世界坐标系的概念：即地球磁场。行星磁场的持续存在提供了可靠的世界坐标系，可作为动态环境位置定义重建的参考基准。本方法在Stereolabs公司ZED 2立体相机的磁场传感器上进行了评估，该传感器能像指南针一样提供相对于北极的方位信息。借助惯性测量单元的数据，每个相机的位置信息可转换至统一的世界坐标系中。评估结果揭示了利用地球磁场所能达到的质量水平，并为光学多传感器用于环境检测的动态实时应用提供了基础依据。