Extracting extrinsic parameters of a laser scanner and a camera using EM
The robot's ability of perceiving their environments is primary functionality for a number of applications such as the rescue, navigation and manipulation. In these applications, the 3D colored map image is very useful information because it provides not only scene data but spatial data. For ac...
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creator | Jae-Han Park Yong-Deuk Shin Kyung-Wook Park Seung-Ho Baeg Moon-Hong Baeg |
description | The robot's ability of perceiving their environments is primary functionality for a number of applications such as the rescue, navigation and manipulation. In these applications, the 3D colored map image is very useful information because it provides not only scene data but spatial data. For acquiring reliable 3D colored maps from the camera and the 3D laser scan system, one of the fundamental issues is the extrinsic calibration that calculates the rigid transformation (i.e., rotation and translation) between camera and laser coordinate system. In this paper we propose a novel method of getting extrinsic parameters which is insensitive to the noise of laser scanner measurements. Our approach introduces Expectation-Maximization(EM) algorithm to robust estimation of the relations between the camera and the laser scanner coordinate system in noisy environments. Simulations at various conditions with adding the laser measurement noise are performed to verify the effectiveness of our approach, and they show improved performances in estimating the extrinsic calibration parameters. |
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In these applications, the 3D colored map image is very useful information because it provides not only scene data but spatial data. For acquiring reliable 3D colored maps from the camera and the 3D laser scan system, one of the fundamental issues is the extrinsic calibration that calculates the rigid transformation (i.e., rotation and translation) between camera and laser coordinate system. In this paper we propose a novel method of getting extrinsic parameters which is insensitive to the noise of laser scanner measurements. Our approach introduces Expectation-Maximization(EM) algorithm to robust estimation of the relations between the camera and the laser scanner coordinate system in noisy environments. 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In these applications, the 3D colored map image is very useful information because it provides not only scene data but spatial data. For acquiring reliable 3D colored maps from the camera and the 3D laser scan system, one of the fundamental issues is the extrinsic calibration that calculates the rigid transformation (i.e., rotation and translation) between camera and laser coordinate system. In this paper we propose a novel method of getting extrinsic parameters which is insensitive to the noise of laser scanner measurements. Our approach introduces Expectation-Maximization(EM) algorithm to robust estimation of the relations between the camera and the laser scanner coordinate system in noisy environments. Simulations at various conditions with adding the laser measurement noise are performed to verify the effectiveness of our approach, and they show improved performances in estimating the extrinsic calibration parameters.</description><subject>Calibration</subject><subject>Cameras</subject><subject>Data mining</subject><subject>Extrinsic calibration</subject><subject>Laser noise</subject><subject>Navigation</subject><subject>Noise measurement</subject><subject>Performance evaluation</subject><subject>Robot kinematics</subject><subject>Robot vision systems</subject><subject>Working environment noise</subject><isbn>9784907764340</isbn><isbn>4907764340</isbn><isbn>9784907764333</isbn><isbn>4907764332</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2009</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVT01LAzEUjIig1P0FXvIHFl6Tzb7kKGW1QsVL7-Ul-yKRNpZkBf33RvTiaT6YGZgL0Tm0gwPEcdBaX_7TA1yLrtY3AFi7EZV2N2I7fS6FwpLyq-RGU64pyDMVOvHCpcr3KEkeqXKRNVDODSnPzQstUUh-1J_q9HwrriIdK3d_uBL7h2m_2fa7l8enzf2uTw6WPjLNniKgIT0o8vMc0SqjooleBWDw1howQKNxFJyKa00WkJXyCtl6vRJ3v7OJmQ_nkk5Uvg6mfdUO9TdyH0ig</recordid><startdate>200908</startdate><enddate>200908</enddate><creator>Jae-Han Park</creator><creator>Yong-Deuk Shin</creator><creator>Kyung-Wook Park</creator><creator>Seung-Ho Baeg</creator><creator>Moon-Hong Baeg</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200908</creationdate><title>Extracting extrinsic parameters of a laser scanner and a camera using EM</title><author>Jae-Han Park ; Yong-Deuk Shin ; Kyung-Wook Park ; Seung-Ho Baeg ; Moon-Hong Baeg</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-feadbaf075a342abddf78252f5fb2c0e0b885050a659ac92f13a807e22b27e8b3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2009</creationdate><topic>Calibration</topic><topic>Cameras</topic><topic>Data mining</topic><topic>Extrinsic calibration</topic><topic>Laser noise</topic><topic>Navigation</topic><topic>Noise measurement</topic><topic>Performance evaluation</topic><topic>Robot kinematics</topic><topic>Robot vision systems</topic><topic>Working environment noise</topic><toplevel>online_resources</toplevel><creatorcontrib>Jae-Han Park</creatorcontrib><creatorcontrib>Yong-Deuk Shin</creatorcontrib><creatorcontrib>Kyung-Wook Park</creatorcontrib><creatorcontrib>Seung-Ho Baeg</creatorcontrib><creatorcontrib>Moon-Hong Baeg</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Jae-Han Park</au><au>Yong-Deuk Shin</au><au>Kyung-Wook Park</au><au>Seung-Ho Baeg</au><au>Moon-Hong Baeg</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Extracting extrinsic parameters of a laser scanner and a camera using EM</atitle><btitle>2009 ICCAS-SICE</btitle><stitle>ICCAS-SICE</stitle><date>2009-08</date><risdate>2009</risdate><spage>5269</spage><epage>5272</epage><pages>5269-5272</pages><isbn>9784907764340</isbn><isbn>4907764340</isbn><eisbn>9784907764333</eisbn><eisbn>4907764332</eisbn><abstract>The robot's ability of perceiving their environments is primary functionality for a number of applications such as the rescue, navigation and manipulation. In these applications, the 3D colored map image is very useful information because it provides not only scene data but spatial data. For acquiring reliable 3D colored maps from the camera and the 3D laser scan system, one of the fundamental issues is the extrinsic calibration that calculates the rigid transformation (i.e., rotation and translation) between camera and laser coordinate system. In this paper we propose a novel method of getting extrinsic parameters which is insensitive to the noise of laser scanner measurements. Our approach introduces Expectation-Maximization(EM) algorithm to robust estimation of the relations between the camera and the laser scanner coordinate system in noisy environments. Simulations at various conditions with adding the laser measurement noise are performed to verify the effectiveness of our approach, and they show improved performances in estimating the extrinsic calibration parameters.</abstract><pub>IEEE</pub><tpages>4</tpages></addata></record> |
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language | eng |
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source | IEEE Electronic Library (IEL) Conference Proceedings |
subjects | Calibration Cameras Data mining Extrinsic calibration Laser noise Navigation Noise measurement Performance evaluation Robot kinematics Robot vision systems Working environment noise |
title | Extracting extrinsic parameters of a laser scanner and a camera using EM |
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