Extrinsic Calibration of the 2D Laser Rangefinder and Binocular Cameras System Base on Virtual Points

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Extrinsic Calibration of the 2D Laser Rangefinder and Binocular Cameras System Base on Virtual Points
	Chang WK(常文凯)1 ; Li E(李恩)1 ; Yang GD(杨国栋)1 ; Liang ZZ(梁自泽)1 ; Wu Y(武益)2; Lie JP(列建平)2
	2016-08
会议日期	2016-7
会议地点	成都
关键词	Calibration 2d Laser Rangefinder Binocular Cameras System
英文摘要	In this paper a novel method is proposed to calibrate the extrinsic parameters of the laser rangefinder (LRF) and binocular cameras system. Currently, many calibration methods based on 2D laser rangefinder and signal camera have been investigated by extracting observable feature points in images and point clouds matching to calculate the relative translation and rotation between the coordinate frames. Superior to the monocular vision, stereo vision can obtain more information of scene, such as 3D planes. In this paper, virtual points and lines are deduced by analyzing the intersected 3D planes and they are used as inputs to an optimization problem which requires jointly estimating the relative translation and rotation between left camera and LRF. Moreover, two parameters for LRF geometric model can also be estimated. The proposed method only need range data of LRF and scan once of scene. It is suitable for various types of LRF. Experimental results demonstrate the validity of the proposed method.
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/20973]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	1.中国科学院自动化研究所 2.国家电网有限公司
推荐引用方式 GB/T 7714	Chang WK,Li E,Yang GD,et al. Extrinsic Calibration of the 2D Laser Rangefinder and Binocular Cameras System Base on Virtual Points[C]. 见:. 成都. 2016-7.