An Algorithm for Extrinsic Parameters Calibration of a Camera and a Laser Range Finder Using Line Features

This paper presents an effective algorithm for calibrating the extrinsic parameters between a camera and a laser range finder whose trace is invisible. On the basis of an analysis of three possible features, we propose to design a right-angled triangular checkerboard and to employ the invisible inte...

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Bibliographic Details
Published in2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 3854 - 3859
Main Authors Ganhua Li, Yunhui Liu, Li Dong, Xuanping Cai, Dongxiang Zhou
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2007
Subjects
Algorithm design and analysis
Calibration
Cameras
Coordinate measuring machines
Equations
Intelligent robots
Laser fusion
Robot vision systems
Sensor fusion
Sensor systems
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Summary:This paper presents an effective algorithm for calibrating the extrinsic parameters between a camera and a laser range finder whose trace is invisible. On the basis of an analysis of three possible features, we propose to design a right-angled triangular checkerboard and to employ the invisible intersection points of the laser range finder's slice plane with the edges of the checkerboard to set up the constraints equations. The extrinsic parameters are then calibrated by minimizing the algebraic errors between the measured intersections points and their corresponding projections on the image plane of the camera. We compared our algorithm with the existing methods by both simulations and the real data of a stereo measurement system. The simulation and experimental results confirmed that the proposed algorithm can yield more accurate results.
ISBN:9781424409112
142440911X
ISSN:2153-0858
DOI:10.1109/IROS.2007.4399041