Extrinsic Calibration of Camera and 3D Laser Sensor System
文献类型：会议论文
| 作者 | Sui JF(隋景峰)1 ; Wang S(王硕)2; Sui JF(隋景峰)
|
| 出版日期 | 2017-07-28 |
| 会议日期 | 2017-7-28 |
| 会议地点 | Dalian, China |
| 关键词 | Extrinsic Calibration Edges Extraction Sensor Fusion |
| 英文摘要 | Robots are typically equipped with multiple complementary sensors such as cameras and laser range finders. Camera generally provides dense 2D information while range sensors give sparse and accurate depth information in the form of a set of 3D points. In order to represent the different data sources in a common coordinate system, extrinsic calibration is needed. This paper presents a pipeline for extrinsic calibration a zed setero camera with Velodyne LiDAR puck using a novel self-made 3D marker whose edges can be robustly detected in the image and 3d point cloud. Our approach first estimate the large sensor displacement using just a single frame. then we optimize the coarse results by finding the best align of edges in order to obtain a more accurate calibration. Finally, the ratio of the 3D points correctly projected onto proper image segments is used to evaluate the accuracy of calibration. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/14809]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Sui JF(隋景峰) |
| 作者单位 | 1.中科院自动化研究所 2.中科院自动化研究所 |
| 推荐引用方式 GB/T 7714 | Sui JF,Wang S,Sui JF. Extrinsic Calibration of Camera and 3D Laser Sensor System[C]. 见:. Dalian, China. 2017-7-28. |
入库方式： OAI收割
来源：自动化研究所
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