Paper Info
Title
Data Fusion Calibration for a 3D Laser Range Finder and a Camera using Inertial Data.
Abstract
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 approach is innovate in terms of higher exibility and wider range of application. The proposed method is based on the presentation to the sensor platform of a stationary planar board containing a checkerboard pattern. The homography which de nes the rotation matrix between the LRF and camera is achieved moving the robot and observing the resulting motion of the sensors. This step attempts to solve the well-known homogeneous transform equation of the form AX = BX. Next, translation is calculated using a commonly least-squares estimation algorithm according to the corners of the pattern, previously detected by both, camera and LRF. The developed algorithm was tested on a mobile robot which is equipped with sensor platform composed of pinhole camera, LRF pan-tilt unit and a IMU, and proved to be very accurate. Furthermore, the applicability of the method is greatly expanded, requiring attachment of a simple inertial sensor to the sensor platform. Index Terms 3D Laser Sensors, Laser-Camera Calibration
Year
Venue
Field
2009
ECMR
Pinhole camera,Computer vision,Rotation matrix,Computer science,Sensor fusion,Homography,Artificial intelligence,Inertial measurement unit,Robot,Mobile robot,Calibration
DocType
Citations 
PageRank 
Conference
16
1.27
References 
Authors
5
4
Name
Order
Citations
PageRank
Pedro Núñez1717.50
Paulo Drews Jr.29311.59
Rui P. Rocha340735.91
Jorge Dias455651.00