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A Minimal Solution for the Extrinsic Calibration of a Camera and a Laser-Rangefinder
Nov. 2012 (vol. 34 no. 11)
pp. 2097-2107
| ASCII Text | x | ||
| F. Vasconcelos, J. P. Barreto, U. Nunes, "A Minimal Solution for the Extrinsic Calibration of a Camera and a Laser-Rangefinder," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 34, no. 11, pp. 2097-2107, Nov., 2012. | |||
| BibTex | x | ||
| @article{ 10.1109/TPAMI.2012.18, author = {F. Vasconcelos and J. P. Barreto and U. Nunes}, title = {A Minimal Solution for the Extrinsic Calibration of a Camera and a Laser-Rangefinder}, journal ={IEEE Transactions on Pattern Analysis and Machine Intelligence}, volume = {34}, number = {11}, issn = {0162-8828}, year = {2012}, pages = {2097-2107}, doi = {http://doi.ieeecomputersociety.org/10.1109/TPAMI.2012.18}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } | |||
| RefWorks Procite/RefMan/Endnote | x | ||
| TY - JOUR JO - IEEE Transactions on Pattern Analysis and Machine Intelligence TI - A Minimal Solution for the Extrinsic Calibration of a Camera and a Laser-Rangefinder IS - 11 SN - 0162-8828 SP2097 EP2107 EPD - 2097-2107 A1 - F. Vasconcelos, A1 - J. P. Barreto, A1 - U. Nunes, PY - 2012 KW - sensor fusion KW - calibration KW - cameras KW - iterative methods KW - laser ranging KW - pose estimation KW - plane pose estimation KW - camera extrinsic calibration KW - 2D laser-rangefinder KW - checkerboard pattern KW - camera coordinates KW - depth readings KW - LRF reference frame KW - displacement estimation KW - 3D space KW - plane-line correspondences KW - p3p problem KW - linear equation system KW - hypothesis generator KW - RANSAC paradigm KW - random sample consensus KW - Calibration KW - Cameras KW - Equations KW - Lasers KW - Three dimensional displays KW - Vectors KW - Sensors KW - sensor fusion KW - Extrinsic calibration KW - laser-rangefinder KW - euclidean registration KW - minimal problems VL - 34 JA - IEEE Transactions on Pattern Analysis and Machine Intelligence ER - | |||
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/TPAMI.2012.18
This paper presents a new algorithm for the extrinsic calibration of a perspective camera and an invisible 2D laser-rangefinder (LRF). The calibration is achieved by freely moving a checkerboard pattern in order to obtain plane poses in camera coordinates and depth readings in the LRF reference frame. The problem of estimating the rigid displacement between the two sensors is formulated as one of registering a set of planes and lines in the 3D space. It is proven for the first time that the alignment of three plane-line correspondences has at most eight solutions that can be determined by solving a standard p3p problem and a linear system of equations. This leads to a minimal closed-form solution for the extrinsic calibration that can be used as hypothesis generator in a RANSAC paradigm. Our calibration approach is validated through simulation and real experiments that show the superiority with respect to the current state-of-the-art method requiring a minimum of five input planes.
Index Terms:
sensor fusion,calibration,cameras,iterative methods,laser ranging,pose estimation,plane pose estimation,camera extrinsic calibration,2D laser-rangefinder,checkerboard pattern,camera coordinates,depth readings,LRF reference frame,displacement estimation,3D space,plane-line correspondences,p3p problem,linear equation system,hypothesis generator,RANSAC paradigm,random sample consensus,Calibration,Cameras,Equations,Lasers,Three dimensional displays,Vectors,Sensors,sensor fusion,Extrinsic calibration,laser-rangefinder,euclidean registration,minimal problems
Citation:
F. Vasconcelos, J. P. Barreto, U. Nunes, "A Minimal Solution for the Extrinsic Calibration of a Camera and a Laser-Rangefinder," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 34, no. 11, pp. 2097-2107, Nov. 2012, doi:10.1109/TPAMI.2012.18
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