Paper Info
Title
A new algorithm for computing the projection matrix between a LIDAR and a camera based on line correspondences
Abstract
In this paper, we present a new algorithm to directly calculate the projection matrix between a camera and a LIDAR. Since Line correspondences are used to construct the geometric constraint in our algorithm, the calibration target is flexible and any object with straight line boundary can be an appropriate calibration target. The algorithm has two stages. Firstly, the linear solution is estimated by minimizing the algebraic error. Then it is refined by optimizing the geometric error. Two different kinds of geometric distance are discussed and the one using the distance from a laser point to the plane, which is formed by back-projecting from an image line, is chosen. Because the quality of the measurements impacts on the accuracy of the final result, a sampling strategy is also given to obtain high quality measurements and avoid overfitting. Simulation and experimental results validate the proposed algorithm and sampling strategy.
Year
DOI
Venue
2012
10.1109/ICUMT.2012.6459706
ICUMT
Keywords
DocType
Volume
lidar,camera,matrix algebra,projection matrix,high quality measurements,geometric distance,sampling strategy,straight line boundary,optical radar,line correspondences,image line,cameras,geometric constraint,calibration target,algebraic error minimization,geometric error
Conference
null
Issue
ISSN
ISBN
null
2157-0221
978-1-4673-2016-0
Citations 
PageRank 
References 
2
0.42
6
Authors
2
Name
Order
Citations
PageRank
Lipu Zhou1255.16
Zhi-Dong Deng219829.50