Extrinsic Calibration of the 2D Laser Rangefinder and Binocular Cameras System Base on Virtual Points
Chang WK(常文凯)1; Li E(李恩)1; Yang GD(杨国栋)1; Liang ZZ(梁自泽)1; Wu Y(武益)2; Lie JP(列建平)2
2016-08
会议名称35th Chinese Control Conference
会议日期2016-7
会议地点成都
摘要 In this paper a novel method is proposed to calibrate the extrinsic parameters of the laser rangefinder (LRF) and binocular cameras system. Currently, many calibration methods based on 2D laser rangefinder and signal camera have been investigated by extracting observable feature points in images and point clouds matching to calculate the relative translation and rotation between the coordinate frames. Superior to the monocular vision, stereo vision can obtain more information of scene, such as 3D planes. In this paper, virtual points and lines are deduced by analyzing the intersected 3D planes and they are used as inputs to an optimization problem which requires jointly estimating the relative translation and rotation between left camera and LRF. Moreover, two parameters for LRF geometric model can also be estimated. The proposed method only need range data of LRF and scan once of scene. It is suitable for various types of LRF. Experimental results demonstrate the validity of the proposed method.
关键词Calibration 2d Laser Rangefinder Binocular Cameras System
收录类别EI
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/20973
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.中国科学院自动化研究所
2.国家电网有限公司
推荐引用方式
GB/T 7714
Chang WK,Li E,Yang GD,et al. Extrinsic Calibration of the 2D Laser Rangefinder and Binocular Cameras System Base on Virtual Points[C],2016.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Extrinsic Calibratio(756KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Chang WK(常文凯)]的文章
[Li E(李恩)]的文章
[Yang GD(杨国栋)]的文章
百度学术
百度学术中相似的文章
[Chang WK(常文凯)]的文章
[Li E(李恩)]的文章
[Yang GD(杨国栋)]的文章
必应学术
必应学术中相似的文章
[Chang WK(常文凯)]的文章
[Li E(李恩)]的文章
[Yang GD(杨国栋)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Extrinsic Calibration of the 2D Laser Rangefinder and Binocular Cameras System Base on Virtual Points.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。