We present a novel method for extrinsically calibrating a camera and a 2-D Laser Rangefinder (LRF) whose beams are invisible from the camera image. We show that point-to-plane constraints from a single observation of a V-shaped calibration pattern composed of two non-coplanar triangles suffice to uniquely constrain the relative pose between two sensors. Next, we present an approach to obtain solutions using point-to-plane constraints from single or multiple observations. Along the way, we also show that previous solutions, in contrast to our method, have inherent ambiguities and therefore must rely on a good initial estimate. Real and synthetic experiments validate our method and show that it achieves better accuracy than previous methods.
|Original language||English (US)|
|Title of host publication||ICRA 2017 - IEEE International Conference on Robotics and Automation|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - Jul 21 2017|
|Event||2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore|
Duration: May 29 2017 → Jun 3 2017
|Name||Proceedings - IEEE International Conference on Robotics and Automation|
|Other||2017 IEEE International Conference on Robotics and Automation, ICRA 2017|
|Period||5/29/17 → 6/3/17|
Bibliographical noteFunding Information:
This work is supported in part by NSF Award 1317788, USDA Award MIN-98-G02 and the MnDrive initiative. 1W. Dong and V. Isler are with the Department of Computer Science and Engineering, University of Minnesota, Twin Cities, MN, 55455, USA.
© 2017 IEEE.