期刊
IEEE SENSORS JOURNAL
卷 18, 期 10, 页码 4200-4211出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSEN.2018.2819082
关键词
2D laser rangefinder (LRF); camera; extrinsic calibration; analytical solution
资金
- NSF [1317788]
- USDA Award [MIN-98-G02]
- MnDrive initiative
- Div Of Information & Intelligent Systems
- Direct For Computer & Info Scie & Enginr [1317788] Funding Source: National Science Foundation
We present a novel method for extrinsically calibrating a camera and a 2D laser rangefinder whose beams are invisible from the camera image. We show that the point-toplane 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 analytical solutions using point-to-plane constraints from single or multiple observations. Along the way, we also show that the 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 the previous methods.
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