Top

Optical and Quantum Electronics

Published in:

01-06-2019

Extrinsic calibration of a single-point laser rangefinder and single camera

Authors: Zewei Liu, Dongming Lu, Weixian Qian, Guohua Gu, Jun Zhang, Xiaofang Kong

Published in: Optical and Quantum Electronics | Issue 6/2019

Activate our intelligent search to find suitable subject content or patents.

search-config

AI-assisted search

Off

Abstract

We present a new method for calibrating a single-point laser rangefinder and single camera because the combination of a cheap single-point laser range finder (LRF) and a camera has become increasingly helpful in recent industrial applications. In order to effectively use the date from the camera and LRF, it is important to know their relative position and orientation from each other. In this paper, a robust extrinsic calibration method for determining the position and direction of the LRF with respect to the camera is proposed. Due to the spot of the single-point LRF we commonly use is mostly invisible, infrared camera is utilized to detect laser spot and then establish the position relationship between visible light camera and infrared camera to calibrate the extrinsic parameters. Experimental results demonstrate that the proposed method can calibrate the extrinsic parameters with high precision and effectively.

previous article Effect of interface recombination on the efficiency of intracavity double diode structures

next article Graphene-based tunable dual-band absorbers by ribbon/disk array

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 340 Zeitschriften

aus folgenden Fachgebieten:

Bauwesen + Immobilien
Business IT + Informatik
Finance + Banking
Management + Führung
Marketing + Vertrieb
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Bradski, G., Kaehler, A.: Learning OpenCV, 1st Edition[M]// Learning opencv, 1st edition. O'Reilly Media, Inc. (2008)

Chakravarty, P., Jarvis, R.: Panoramic vision and laser range finder fusion for multiple person tracking. In: Proceedings of IROS’06, pp. 2949–2954 (2006)

Giseok, K.I.M., Cho, J.-S.: Vision-based vehicle detection and inter-vehicle distance estimation for driver alarm system. Opt. Rev. 19(6), 388–393 (2012)CrossRef

Hahnel, D., Burgard, W., Fox, D., Thrun, S.: An efficient fastslam algorithm for generating maps of large-scale cyclic environments from raw laser range measurements. In: Proceedings of IROS’03, vol. 1, pp. 206–211 (2003)

Hoang, T.N., Thomas, B.H.: In-situ refinement techniques for outdoor geo-referenced models using mobile AR. In: Proceedings of ISMAR’09, IEEE Computer Society, Washington, pp. 193–194 (2009)

Levenberg, K.: A method for the solution of certain problems in least squares. Q. Appl. Math. 2, 164–168 (1994)MathSciNetCrossRef

Long, C., Jin, Z., Huanhuan, H.: Design and implementation of the tracing smart car system based on laser sensors. In: 2010 International Conference On Computer Design And Applications (ICCDA 2010) (2010)

Mor, J.J.: The Levenberg–Marquardt algorithm: implementation and theory. In: Watson, G.A. (ed.) Lecture Notes in Mathematics, vol. 630, pp. 105–116. Springer, Berlin (1977)

Patel, S.N., Rekimoto, J., Abowd, G.D.: iCam: precise at-a-distance interaction in the physical environment. In: Proceedings of PERVASIVE’06, Springer, Berlin, pp. 272–287 (2006)

Scaramuzza, D., Harati, A., Siegwart, R.: Extrinsic self calibration of a camera and a 3D laser range finder from natural scenes. In: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (2007)

Surmann, H., Nüchter, A., Hertzberg, J.: An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments. Robot. Auton. Syst. 45, 181–198 (2003)CrossRef

Unnikrishnan, R., Hebert, M.: Fast extrinsic calibration of a laser rangefinder to a camera. Robotics Institute, Tech. Rep. CMU-RI-TR-05-09 (2005)

Vasconcelos, F., Barreto, J.P., Nunes, U.: A minimal solution for the extrinsic calibration of a camera and a laser-rangefinder. IEEE Trans. Pattern Anal. Mach. Intell. 34, 2097–2107 (2012)CrossRef

Wither, J., Coffin, C., Ventura, J., Hollerer, T.: Fast annotation and modeling with a single-point laser range finder. In: Proceedings of ISMAR’08, IEEE Computer Society, pp. 65–68 (2008)

Zhang, Q., Pless, R.: Extrinsic calibration of a camera and laser range finder (improves camera calibration). In: Proceedings of IROS’04, vol. 3. IEEE, pp. 2301–2306 (2004)

Title: Extrinsic calibration of a single-point laser rangefinder and single camera
Authors: Zewei Liu
Dongming Lu
Weixian Qian
Guohua Gu
Jun Zhang
Xiaofang Kong
Publication date: 01-06-2019
Publisher: Springer US
Published in: Optical and Quantum Electronics / Issue 6/2019
Print ISSN: 0306-8919
Electronic ISSN: 1572-817X
DOI: https://doi.org/10.1007/s11082-019-1907-8

Springer Professional

Abstract

Please log in to get access to your license.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Technik"

Springer Professional "Wirtschaft+Technik"

Springer Professional "Wirtschaft"

Other articles of this Issue 6/2019

Multi-rate OCDMA system BER performance evaluations for different ML-code sequences

Refractive index from negative to positive with frequencies at the Dirac-like cone in a photonic crystal

Modeling mode competition in laser diodes

Study of phase-locking of optoelectronic microwave oscillators considering amplitude perturbation

Influence of fluorine doped CdO thin films by an simplified spray pyrolysis technique using nebulizer

Dyakonov surface waves at the interface of nanocomposites with spherical and ellipsoidal inclusions