An Accurate Extrinsic Calibration of Laser Range Finder and Vision Camera Using 3D Edges of Multiple Planes
نویسندگان
چکیده
منابع مشابه
Extrinsic Calibration of a Camera and Laser Range Finder
We describes theoretical and experimental results for the extrinsic calibration of sensor platform consisting of a camera and a laser range finder. The proposed technique requires the system to observe a planar pattern in several poses, and the constraints are based upon data captured simultaneously from the camera and the laser range finder. The planar pattern surface and the laser scanline on...
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This paper describes theoretical and experimental results for the auto-calibration of sensor platform consisting of a camera and a laser range finder. Real-world use of autonomous sensor platforms often requires the re-calibration of sensors without an explicit calibration object. The constraints are based upon data captured simultaneously from the camera and the laser range finder while the se...
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Fusion of heterogeneous extroceptive sensors is the most effient and effective way to representing the environment precisely, as it overcomes various defects of each homogeneous sensor. The rigid transformation (aka. extrinsic parameters) of heterogeneous sensory systems should be available before precisely fusing the multisensor information. Researchers have proposed several approaches to esti...
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The use of 3D laser range nder (LRF) and cameras is increasingly common in the navigation application for mobile robots. This paper proposes a new method to perform the extrinsic calibration between a pinhole camera and a 3D-LRF with the aid of an Inertial Measurement Unit (IMU). While state of the art calibration procedures require a large number of points for robust calibration, the proposed ...
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This paper presents a method for determining the six-degreeof-freedom (DOF) transformation between a camera and a base frame of interest, while concurrently estimating the 3D base-frame coordinates of unknown point features in the scene. The camera observes the reflections of fiducial points, whose base-frame coordinates are known, and reconstruction points, whose base-frame coordinates are unk...
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ژورنال
عنوان ژورنال: KIPS Transactions on Software and Data Engineering
سال: 2015
ISSN: 2287-5905
DOI: 10.3745/ktsde.2015.4.4.177