DeepAI AI Chat
Log In Sign Up

A Novel Method for Extrinsic Calibration of a 2-D Laser-Rangefinder and a Camera

by   Wenbo Dong, et al.
University of Minnesota

We present a novel solution for extrinsically calibrating a camera and a Laser Rangefinder (LRF) by computing the transformation between the camera frame and the LRF frame. Our method is applicable for LRFs which measure only a single plane. It does not rely on observing the laser plane in the camera image. Instead, we show that point-to-plane constraints from a single observation of a V-shaped calibration pattern composed of two non-coplanar triangles suffice to uniquely constrain the transformation. Next, we present a method to obtain a solution using point-to-plane constraints from single or multiple observations. Along the way, we also show that previous solutions, in contrast to our method, have inherent ambiguities and therefore must rely on a good initial estimate. Real and synthetic experiments validate our method and show that it achieves better accuracy than previous methods.


page 1

page 9

page 10


Spatiotemporal Calibration of Camera and 3D Laser Scanner

The multi-sensory setups consisting of the laser scanners and cameras ar...

In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects

Hand-eye calibration of laser profile sensors is the process of extracti...

Joint Calibration of Panoramic Camera and Lidar Based on Supervised Learning

In view of contemporary panoramic camera-laser scanner system, the tradi...

A Maximum Likelihood Approach to Extract Finite Planes from 3-D Laser Scans

Whether it is object detection, model reconstruction, laser odometry, or...

Automatic Scale Estimation of Structure from Motion based 3D Models using Laser Scalers

Recent advances in structure-from-motion techniques are enabling many sc...

A Dual-Beam Method-of-Images 3D Searchlight BSSRDF

We present a novel BSSRDF for rendering translucent materials. Angular e...

A Branch-and-Bound Algorithm for Checkerboard Extraction in Camera-Laser Calibration

We address the problem of camera-to-laser-scanner calibration using a ch...