An Accurate Extrinsic Calibration of Laser Range Finder and Vision Camera Using 3D Edges of Multiple Planes


KIPS Transactions on Software and Data Engineering, Vol. 4, No. 4, pp. 177-186, Apr. 2015
10.3745/KTSDE.2015.4.4.177, Full Text:

Abstract

For data fusion of laser range finder (LRF) and vision camera, accurate calibration of external parameters which describe relative pose between two sensors is necessary. This paper proposes a new calibration method which can acquires more accurate external parameters between a LRF and a vision camera compared to other existing methods. The main motivation of the proposed method is that any corner data of a known 3D structure which is acquired by the LRF should be projected on a straight line in the camera image. To satisfy such constraint, we propose a 3D geometric model and a numerical solution to minimize the energy function of the model. In addition, we describe the implementation steps of the data acquisition of LRF and camera images which are necessary in accurate calibration results. In the experiment results, it is shown that the performance of the proposed method are better in terms of accuracy compared to other conventional methods.


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Cite this article
[IEEE Style]
S. I. Choi and S. Y. Park, "An Accurate Extrinsic Calibration of Laser Range Finder and Vision Camera Using 3D Edges of Multiple Planes," KIPS Transactions on Software and Data Engineering, vol. 4, no. 4, pp. 177-186, 2015. DOI: 10.3745/KTSDE.2015.4.4.177.

[ACM Style]
Sung In Choi and Soon Yong Park. 2015. An Accurate Extrinsic Calibration of Laser Range Finder and Vision Camera Using 3D Edges of Multiple Planes. KIPS Transactions on Software and Data Engineering, 4, 4, (2015), 177-186. DOI: 10.3745/KTSDE.2015.4.4.177.