A novel method for the extrinsic calibration of a 2-D laser-rangefinder & a camera

Wenbo Dong, Volkan Isler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

Abstract

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 languageEnglish (US)
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5104-5109
Number of pages6
ISBN (Electronic)9781509046331
DOIs
StatePublished - Jul 21 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: May 29 2017Jun 3 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Country/TerritorySingapore
CitySingapore
Period5/29/176/3/17

Bibliographical note

Funding 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.

Publisher Copyright:
© 2017 IEEE.

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