An analytical least-squares solution to the line scan LIDAR-camera extrinsic calibration problem

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

15 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages2943-2948
Number of pages6
DOIs
StatePublished - Nov 14 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

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

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

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