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

Citation data:

Proceedings - IEEE International Conference on Robotics and Automation, ISSN: 1050-4729, Page: 5104-5109

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Citations 2
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Wenbo Dong; Volkan Isler
Institute of Electrical and Electronics Engineers (IEEE)
Computer Science; Engineering
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.