One Shot Extrinsic Calibration of a Camera and Laser Range Finder Using Vertical Planes

In this paper, we present a new algorithm for the extrinsic calibration of a camera and laser range finder just using one-shot data. Most previous algorithms require multiple sets of data acquired under different poses. We newly designed a calibration structure where multiple polyhedrons are set in...

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Bibliographic Details
Published in:Journal of electrical engineering & technology 2019, 14(2), , pp.917-922
Main Authors: Kim, Nam-Hun, Ha, Jong-Eun
Format: Article
Language:English
Subjects:
Electrical Engineering
Electrical Machines and Networks
Electronics and Microelectronics
Engineering
Instrumentation
Original Paper
Power Electronics
전기공학
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Summary:In this paper, we present a new algorithm for the extrinsic calibration of a camera and laser range finder just using one-shot data. Most previous algorithms require multiple sets of data acquired under different poses. We newly designed a calibration structure where multiple polyhedrons are set in predefined positions on the ground plane which allow the natural application of multiple point-line constraints for the extrinsic calibration of a camera and laser range finder. Control points are extracted from laser range finder’s data by hand. If automatic detection of control points is possible, presented algorithm can be used for in-situ extrinsic calibration of a camera and laser range finder. Even using one-shot of data, presented algorithm gives comparable accuracy compared to conventional algorithm which requires multiple sets of data under different pose.
ISSN:1975-0102
2093-7423
DOI:10.1007/s42835-019-00087-z