Extrinsic Calibration of Camera and 3D Laser Sensor System
Sui JF(隋景峰)1; Wang S(王硕)2; Sui JF(隋景峰)
2017-07-28
会议名称the 36th Chinese Control Conference
会议日期2017-7-28
会议地点Dalian, China
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.
关键词Extrinsic Calibration Edges Extraction Sensor Fusion
收录类别其他
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/14809
专题复杂系统管理与控制国家重点实验室_先进机器人
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],2017.
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