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Extrinsic calibration of a camera and laser range finder using a new calibration structure of a plane with a triangular hole

  • Jong-Eun Ha
Regular Paper Robotics and Automation

Abstract

Sensor fusion of a camera and laser range finder is important for the autonomous navigation of mobile robots. Finding the transformation between the camera and laser range finder is the first necessary step for the fusion of information. Many algorithms have been proposed, but these tend to require many different steps in order to achieve reliable and accurate results. A calibration structure that has triangular hole on its plane is proposed for the extrinsic calibration of a camera and laser range finder. Locations of laser scan data that are invisible on the calibration plane can be determined using property on the proposed calibration structure. First, we classify the laser scan data into two groups where one is on the plane and the other is off the plane. Then, we determine the absolute location of the laser scan data on the plane through a search of the parameters of the line. Finally, we can establish 3D-3D correspondences between the camera and laser range finder. Extrinsic calibration between a camera and laser range finder is found using a conventional 3D-3D transformation computing algorithm. Keywords: Calibration k]camera k]extrinsic calibration k]laser range finder

Keywords

Mobile Robot Camera Calibration Linear Solution Autonomous Navigation Extrinsic Parameter 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  1. 1.Department of Mechanical and Automotive EngineeringSeoul National University of Science and TechnologySeoulKorea

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