An extrinsic calibration method for binocular cameras and swing 2D laser rangefinder
Chang WK(常文凯); Yang GD(杨国栋); Liang ZZ(梁自泽)
2017-07
会议名称29th Chinese Control and Decision Conference (CCDC)
会议日期2017-5
会议地点Chongqing
摘要 In this paper a novel method is proposed to calibrate the extrinsic parameters of the swing 2D laser rangefinder (LRF) and binocular cameras system. Target object that need special processing is abandoned. Extrinsic calibration is completed with one observation of three planes that posted with checkboard-like posters. The procedure is simplified. Superior to the monocular vision, stereo vision can obtain more information of scene. 3D virtual points and lines are deduced by analyzing the intersected 3D planes and they are used as inputs to an optimization problem which estimating the relative pose between camera and LRF. Moreover, we build geometric model of swing LRF and estimate the two important parameters with Levenberg-Marquardt (LM) individually. Thus, the distortion of point cloud that caused by mechanical structure is corrected as pretreatment of relative pose calculation. Experimental results demonstrate the validity of the proposed calibration and correction methods.
关键词Extrinsic Calibration 2d Lrf Binocular Cameras
收录类别EI
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/20975
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
Chang WK,Yang GD,Liang ZZ. An extrinsic calibration method for binocular cameras and swing 2D laser rangefinder[C],2017.
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