A minimal solution for the calibration of a 2D laser-rangefinder and a camera based on scene corners
A minimal solution for the calibration of a 2D laser-rangefinder and a camera based on scene corners
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DOI：
10.1109/iros.2015.7353625
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发表时间：
2015-12
期刊：
影响因子：
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通讯作者：
Jesus Briales;Javier González Jiménez
中科院分区：
文献类型：
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作者：
Jesus Briales;Javier González Jiménez
机器人通常配备二维激光测距仪（lrf）和摄像头，因为它们可以很好地互补。为了正确地组合两个传感器的测量值，需要知道它们的相对姿态，即解决它们的外部校准问题。本文提出了一种简单、快速、有效的外部标定问题的最小解。我们的方法不需要任何有目的的校准模式：它基于对正交三面体的观察，这在人为场景中被大量发现为角。通过综合实验和实际实验验证了该方案的有效性，表明其性能优于现有方案。我们的方法的实现作为开源软件提供。
Robots are often equipped with 2D laser-rangefinders (LRFs) and cameras since they complement well to each other. In order to correctly combine the measurements from both sensors, it is required to know their relative pose, that is, to solve their extrinsic calibration. In this paper we present a simple, quick and effective minimal solution for the extrinsic calibration problem. Our approach does not require any onpurpose calibration pattern: it bases on the observation of an orthogonal trihedron, which is profusely found as corners in human-made scenarios. The proposal is validated with synthetic and real experiments, showing better performance than existing alternatives. An implementation of our approach is made available as open-source software.