Advertisement

Extrinsic Calibration between 2D Laser Range Finder and Fisheye Camera

  • Yong Fang
  • Cindy Cappelle
  • Yassine Ruichek
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8888)

Abstract

This paper presents an approach of extrinsic calibration between a camera with fisheye lens and an invisible single-planar laser range finder (LRF). The proposed approach requires LRF and camera to observe a chessboard moved in their field of view. Through checking the changment of LRF measurements, a set of points located in the laser beams plane is detected. These detected points are then used to estimate the equation of the plane of the laser beams in the camera coordinate system. Finally, two geometrical constraints based on the equation of the plane and the set of points are constructed to estimate the extrinsic parameters between the fisheye camera and the LRF. According to simulation results, we show that the proposed approach permits to improve the results (when compared with the approach proposed in paper [1]). At last, real data experiments are carried out and results are presented.

Keywords

LRF Fisheye Known Points 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Mei, C., Rives, P.: Calibration between a central catadioptric camera and a laser range finder for robotic applications, pp. 532–537 (2006)Google Scholar
  2. 2.
    Aliakbarpour, H., Nuez, P., Prado, J., Khoshhal, K., Dias, J.: An efficient algorithm for extrinsic calibration between a 3D laser range finder and a stereo camera for surveillance. In: International Conference on Advanced Robotics, pp. 1–6 (June 2009)Google Scholar
  3. 3.
    Scaramuzza, D., Harati, A., Siegwart, R.: Extrinsic self calibration of a camera and a 3D laser range finder from natural scenes. In: International Conference on Intelligent Robots and Systems, pp. 4164–4169 (2007)Google Scholar
  4. 4.
    Niola, V., Rossi, C., Savino, S., Strano, S.: A method for the calibration of a 3-d laser scanner. Robotics and Computer-Integrated Manufacturing 27(2), 479–484 (2011)CrossRefGoogle Scholar
  5. 5.
    Zhang, Q., Pless, R.: Extrinsic calibration of a camera and laser range finder (improves camera calibration). In: International Conference on Intelligent Robots and Systems, vol. 3, pp. 2301–2306 (October 2004)Google Scholar
  6. 6.
    Brim, X., Goulette, F.: Modeling and calibration of coupled fish-eye CCD camera and laser range scanner for outdoor environment reconstruction. In: Sixth International Conference on 3-D Digital Imaging and Modeling, pp. 320–327 (August 2007)Google Scholar
  7. 7.
    Naroditsky, O., Patterson, A., Daniilidis, K.: Automatic alignment of a camera with a line scan LIDAR system. pp. 3429–3434 (2011)Google Scholar
  8. 8.
    Scaramuzza, D., Martinelli, A., Siegwart, R.: A toolbox for easily calibrating omnidirectional cameras. In: International Conference on Intelligent Robots and Systems, pp. 5695–5701 (October 2006)Google Scholar
  9. 9.
    Kannala, J., Brandt, S.: A generic camera model and calibration method for conventional, wide-angle, and fish-eye lenses. IEEE Transactions on Pattern Analysis and Machine Intelligence 8, 1335–1340 (2006)CrossRefGoogle Scholar
  10. 10.
    Mei, C., Rives, P.: Single view point omnidirectional camera calibration from planar grids. In: International Conference on Robotics and Automation, pp. 3945–3950 (April 2007)Google Scholar
  11. 11.
    Golub, G.H., Loan, C.F.V.: Matrix computations. Johns Hopkins University Press (1996)Google Scholar
  12. 12.
    Ranganathan, A.: The levenberg-marquardt algorithm (2004), http://www.cc.gatech.edu/~ananth/docs/lmtut.pdf.

Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Yong Fang
    • 1
  • Cindy Cappelle
    • 1
  • Yassine Ruichek
    • 1
  1. 1.IRTES-SETUTBMBelfort CedexFrance

Personalised recommendations