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Relative Pose Estimation and Fusion of Omnidirectional and Lidar Cameras

  • Levente Tamas
  • Robert Frohlich
  • Zoltan KatoEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8926)

Abstract

This paper presents a novel approach for the extrinsic parameter estimation of omnidirectional cameras with respect to a 3D Lidar coordinate frame. The method works without specific setup and calibration targets, using only a pair of 2D-3D data. Pose estimation is formulated as a 2D-3D nonlinear shape registration task which is solved without point correspondences or complex similarity metrics. It relies on a set of corresponding regions, and pose parameters are obtained by solving a small system of nonlinear equations. The efficiency and robustness of the proposed method was confirmed on both synthetic and real data in urban environment.

Keywords

Omnidirectional camera Lidar Pose estimation Fusion 

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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Robotics Research GroupTechnical University of Cluj-NapocaCluj-NapocaRomania
  2. 2.Institute of InformaticsUniversity of SzegedSzegedHungary

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