Abstract
We present a novel method for extrinsically calibrating a camera and a 2-D Laser Rangefinder (LRF) whose beams are invisible from the camera image. We show that point-to-plane constraints from a single observation of a V-shaped calibration pattern composed of two non-coplanar triangles suffice to uniquely constrain the relative pose between two sensors. Next, we present an approach to obtain solutions using point-to-plane constraints from single or multiple observations. Along the way, we also show that previous solutions, in contrast to our method, have inherent ambiguities and therefore must rely on a good initial estimate. Real and synthetic experiments validate our method and show that it achieves better accuracy than previous methods.
| Original language | English (US) |
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| Title of host publication | ICRA 2017 - IEEE International Conference on Robotics and Automation |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 5104-5109 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509046331 |
| DOIs | |
| State | Published - Jul 21 2017 |
| Event | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore Duration: May 29 2017 → Jun 3 2017 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
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| ISSN (Print) | 1050-4729 |
Other
| Other | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 |
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| Country/Territory | Singapore |
| City | Singapore |
| Period | 5/29/17 → 6/3/17 |
Bibliographical note
Funding Information:This work is supported in part by NSF Award 1317788, USDA Award MIN-98-G02 and the MnDrive initiative. 1W. Dong and V. Isler are with the Department of Computer Science and Engineering, University of Minnesota, Twin Cities, MN, 55455, USA.
Publisher Copyright:
© 2017 IEEE.