TY - GEN
T1 - An analytical least-squares solution to the line scan LIDAR-camera extrinsic calibration problem
AU - Guo, Chao X.
AU - Roumeliotis, Stergios
PY - 2013
Y1 - 2013
N2 - In this paper, we present an elegant solution to the 2D LIDAR-camera extrinsic calibration problem. Specifically, we develop a simple method for establishing correspondences between a line-scan (2D) LIDAR and a camera using a small calibration target that only contains a straight line. Moreover, we formulate the nonlinear least-squares problem for finding the unknown 6 degree-of-freedom (dof) transformation between the two sensors, and solve it analytically to determine its global minimum. Additionally, we examine the conditions under which the unknown transformation becomes unobservable, which can be used for avoiding ill-conditioned configurations. Finally, we present extensive simulation and experimental results for assessing the performance of the proposed algorithm as compared to alternative analytical approaches.
AB - In this paper, we present an elegant solution to the 2D LIDAR-camera extrinsic calibration problem. Specifically, we develop a simple method for establishing correspondences between a line-scan (2D) LIDAR and a camera using a small calibration target that only contains a straight line. Moreover, we formulate the nonlinear least-squares problem for finding the unknown 6 degree-of-freedom (dof) transformation between the two sensors, and solve it analytically to determine its global minimum. Additionally, we examine the conditions under which the unknown transformation becomes unobservable, which can be used for avoiding ill-conditioned configurations. Finally, we present extensive simulation and experimental results for assessing the performance of the proposed algorithm as compared to alternative analytical approaches.
UR - http://www.scopus.com/inward/record.url?scp=84887276262&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887276262&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2013.6630985
DO - 10.1109/ICRA.2013.6630985
M3 - Conference contribution
AN - SCOPUS:84887276262
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2943
EP - 2948
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -