Details
| Original language | English |
|---|---|
| Title of host publication | Book of Abstracts of the 12th Summer Workshop on Interval Methods |
| Number of pages | 3 |
| Publication status | Published - Jul 2019 |
Abstract
We propose an approach for external calibration of a 3D laser scanner with an omnidirectional camera system. The utility of an accurate calibration is that it allows for precise co-registration between the camera imagery and the 3D point cloud. This association can be used to enhance various state of the art algorithms in computer vision and robotics. The extrinsic calibration technique used here is similar to the calibration of a 2D laser range finder and a single camera as proposed by Zhang (2004), but has been extended to the case where we have a 3D laser scanner and an omnidirectional camera system. The procedure requires a planar checkerboard pattern to be observed simultaneously from the laser scanner and the camera system from a minimum of 3 views. The normal of the planar surface and 3D points lying on the surface constrain the relative position and orientation of the laser scanner and the omnidirectional camera system. These constraints can be used to form a non-linear optimization problem that is solved for the extrinsic calibration parameters and the covariance associated with the estimated parameters. Results are presented for a real world data set collected by a vehicle mounted with a 3D laser scanner and an omnidirectional camera system.
Keywords
- 3D Laser Scanner, Omnidirectional Camera, Sensor Calibration
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
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Book of Abstracts of the 12th Summer Workshop on Interval Methods. 2019.
Research output: Chapter in book/report/conference proceeding › Conference abstract › Research › peer review
}
TY - CHAP
T1 - Extrinsic Calibration Between a 3D Laser Scanner and a Camera Under Interval Uncertainty
AU - Voges, Raphael
AU - Wagner, Bernardo
PY - 2019/7
Y1 - 2019/7
N2 - We propose an approach for external calibration of a 3D laser scanner with an omnidirectional camera system. The utility of an accurate calibration is that it allows for precise co-registration between the camera imagery and the 3D point cloud. This association can be used to enhance various state of the art algorithms in computer vision and robotics. The extrinsic calibration technique used here is similar to the calibration of a 2D laser range finder and a single camera as proposed by Zhang (2004), but has been extended to the case where we have a 3D laser scanner and an omnidirectional camera system. The procedure requires a planar checkerboard pattern to be observed simultaneously from the laser scanner and the camera system from a minimum of 3 views. The normal of the planar surface and 3D points lying on the surface constrain the relative position and orientation of the laser scanner and the omnidirectional camera system. These constraints can be used to form a non-linear optimization problem that is solved for the extrinsic calibration parameters and the covariance associated with the estimated parameters. Results are presented for a real world data set collected by a vehicle mounted with a 3D laser scanner and an omnidirectional camera system.
AB - We propose an approach for external calibration of a 3D laser scanner with an omnidirectional camera system. The utility of an accurate calibration is that it allows for precise co-registration between the camera imagery and the 3D point cloud. This association can be used to enhance various state of the art algorithms in computer vision and robotics. The extrinsic calibration technique used here is similar to the calibration of a 2D laser range finder and a single camera as proposed by Zhang (2004), but has been extended to the case where we have a 3D laser scanner and an omnidirectional camera system. The procedure requires a planar checkerboard pattern to be observed simultaneously from the laser scanner and the camera system from a minimum of 3 views. The normal of the planar surface and 3D points lying on the surface constrain the relative position and orientation of the laser scanner and the omnidirectional camera system. These constraints can be used to form a non-linear optimization problem that is solved for the extrinsic calibration parameters and the covariance associated with the estimated parameters. Results are presented for a real world data set collected by a vehicle mounted with a 3D laser scanner and an omnidirectional camera system.
KW - 3D Laser Scanner
KW - Omnidirectional Camera
KW - Sensor Calibration
M3 - Conference abstract
BT - Book of Abstracts of the 12th Summer Workshop on Interval Methods
ER -