A Novel Method for the Extrinsic Calibration of a 2D Laser Rangefinder and a Camera
We present a novel method for extrinsically calibrating a camera and a 2D laser rangefinder whose beams are invisible from the camera image. We show that the point-to-plane constraints from a single observation of a V-shaped calibration pattern composed of two non-coplanar triangles suffice to uniqu...
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Veröffentlicht in: | IEEE sensors journal 2018-05, Vol.18 (10), p.4200-4211 |
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Format: | Artikel |
Sprache: | eng |
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Zusammenfassung: | We present a novel method for extrinsically calibrating a camera and a 2D laser rangefinder whose beams are invisible from the camera image. We show that the 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 analytical solutions using point-to-plane constraints from single or multiple observations. Along the way, we also show that the 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 the previous methods. |
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ISSN: | 1530-437X 1558-1748 |
DOI: | 10.1109/JSEN.2018.2819082 |