CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
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
Conference Name29th Chinese Control and Decision Conference (CCDC)
Conference Date2017-5
Conference PlaceChongqing
Abstract 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.
KeywordExtrinsic Calibration 2d Lrf Binocular Cameras
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/20975
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation中国科学院自动化研究所
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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