Automatic alignment of a camera with a line scan LIDAR system

We propose a new method for extrinsic calibration of a line-scan LIDAR with a perspective projection camera. Our method is a closed-form, minimal solution to the problem. The solution is a symbolic template found via variable elimination and the multi-polynomial Macaulay resultant. It does not requi...

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Bibliographic Details
Main Authors: Naroditsky, Oleg, Patterson, Alexander, Daniilidis, Kostas
Format: Conference Proceeding
Language:English
Subjects:
Calibration
Cameras
Image edge detection
Laser radar
Polynomials
Three dimensional displays
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Summary:We propose a new method for extrinsic calibration of a line-scan LIDAR with a perspective projection camera. Our method is a closed-form, minimal solution to the problem. The solution is a symbolic template found via variable elimination and the multi-polynomial Macaulay resultant. It does not require initialization, and can be used in an automatic calibration setting when paired with RANSAC and least-squares refinement. We show the efficacy of our approach through a set of simulations and a real calibration.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2011.5980513