Paper Info
Title
Extrinsic Calibration between a Camera and a 2D Laser Rangefinder using a Photogrammetric Control Field.
Abstract
The combination of a camera and a 2D laser rangefinder (LRF) is widely used in robotics, mapping, and unmanned driving to simultaneously obtain the 3D geometry and color texture of a scene. However, data misregistration between the camera and the LRF frequently occurs due to the difficulty of precise installation and alignment between them. Extrinsic calibration between the camera and the LRF is necessary. In this study, a photogrammetric control field is used to perform a robust and accurate calibration between the camera and the LRF which requires only one shot. With the use of the photogrammetric control field as the common reference, extrinsic calibration between two sensors is decoupled by calibrating each sensor separately. First, using the room corner of the control field, the LRF is calibrated with respect to the control field by solving a simplified perspective-three-point problem. Then, a large number of control points are used to obtain the robust and accurate extrinsic parameters of the camera with respect to the control field. Experiments with simulated and real data were performed. The experimental results show that the proposed scheme is accurate, precise, and robust under different noise levels, and the calibration results can be utilized in indoor and outdoor applications.
Year
DOI
Venue
2019
10.3390/s19092030
SENSORS
Keywords
Field
DocType
2D laser rangefinder,camera,extrinsic calibration,photogrammetric control field,direct linear transform,perspective-three-point
Photogrammetry,Computer vision,3d geometry,Electronic engineering,Color texture,Artificial intelligence,Direct linear transformation,Engineering,Laser rangefinder,Calibration,Robotics
Journal
Volume
Issue
ISSN
19
9.0
1424-8220
Citations 
PageRank 
References 
0
0.34
0
Authors
5
Name
Order
Citations
PageRank
Jia Fan111.36
Yuchun Huang241.74
jie shan3202.12
Shun Zhang4439.92
Fei Zhu501.01