Cross-Calibration of RGB and Thermal cameras with a LIDAR
نویسندگان
چکیده
In this paper we present a method for combining data from an RGB camera, a long-wave-infrared (LWIR) thermal camera, and a LIDAR to obtain a registered RGB-depththermal (RGBDT) point cloud. Our method assumes that the intrinsic parameters of the cameras are known. For geometric calibration of the thermal camera, we discuss the calibration target used. For cross-calibration, our method requires that the calibration targets are placed in the field-of-view of the cameras and the LIDAR. The edges of the calibration target are detected in the images and the point clouds. The extrinsic paramters (i.e. rotation and translation) between the camera and the LIDAR are determined by finding the transformation that aligns the projected 3D edge points to the edges in the image. We present results of the method on one indoor and one outdoor dataset we collected. We illustrate the convexity of the objective function and discuss the convergence of the algorithm.
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