A novel method for the extrinsic calibration of a 2-D laser-rangefinder & a camera

Citation data:

2017 IEEE International Conference on Robotics and Automation (ICRA), ISSN: 1050-4729, Page: 5104-5109

Publication Year:
2017

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DOI:
10.1109/icra.2017.7989596
Author(s):
Wenbo Dong, Volkan Isler
Publisher(s):
Institute of Electrical and Electronics Engineers (IEEE)
Tags:
Engineering, Computer Science
conference paper description
We present a novel method for extrinsically calibrating a camera and a 2-D Laser Rangefinder (LRF) whose beams are invisible from the camera image. We show that point-to-plane constraints from a single observation of a V-shaped calibration pattern composed of two non-coplanar triangles suffice to uniquely constrain the relative pose between two sensors. Next, we present an approach to obtain solutions using point-to-plane constraints from single or multiple observations. Along the way, we also show that previous solutions, in contrast to our method, have inherent ambiguities and therefore must rely on a good initial estimate. Real and synthetic experiments validate our method and show that it achieves better accuracy than previous methods.

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