Extrinsic calibration of stereo camera and three-dimensional laser scanner

The paper describes an approach that allows solving the problem of extrinsic calibration of a multi-beam lidar and a stereo camera. The approach does not impose any restrictions on the place in which calibration should be performed. Calibration is performed using a calibration board, which is a flat...

Full description

Bibliographic Details
Main Author: Alexander Abramenko
Format: Article
Language:English
Published: Samara National Research University 2019-04-01
Series:Компьютерная оптика
Subjects:
Online Access:http://computeroptics.ru/KO/PDF/KO43-2/430208.pdf
id doaj-01c82225dc5e4db88f1ee2db86e5c4a9
record_format Article
spelling doaj-01c82225dc5e4db88f1ee2db86e5c4a92020-11-25T02:04:36ZengSamara National Research UniversityКомпьютерная оптика0134-24522412-61792019-04-0143222023010.18287/2412-6179-2019-43-2-220-230Extrinsic calibration of stereo camera and three-dimensional laser scannerAlexander Abramenko 0Joint Stock Company "Scientific Design Bureau of Computing Systems" (JSC SDB CS), Taganrog, RussiaThe paper describes an approach that allows solving the problem of extrinsic calibration of a multi-beam lidar and a stereo camera. The approach does not impose any restrictions on the place in which calibration should be performed. Calibration is performed using a calibration board, which is a flat rectangle with special markers. Three-dimensional correspondences are used for calibration. First, a search for the three-dimensional coordinates of the corner points of the calibration board in the coordinate systems of the stereo pair cameras as well as in the coordinate system of the lidar is made. Next, using the optimization methods, calibration parameters are calculated. The results of a series of virtual and real experiments show that the algorithm allows the calibration to be performed with an accuracy comparable to that of sensors. The proposed approach allows one to improve the calibration accuracy due to the simultaneous use of information from two cameras of the stereo pair and is suitable for lidars with both the low and high point density.http://computeroptics.ru/KO/PDF/KO43-2/430208.pdfstereo cameralidarextrinsic calibrationdata fusion
collection DOAJ
language English
format Article
sources DOAJ
author Alexander Abramenko
spellingShingle Alexander Abramenko
Extrinsic calibration of stereo camera and three-dimensional laser scanner
Компьютерная оптика
stereo camera
lidar
extrinsic calibration
data fusion
author_facet Alexander Abramenko
author_sort Alexander Abramenko
title Extrinsic calibration of stereo camera and three-dimensional laser scanner
title_short Extrinsic calibration of stereo camera and three-dimensional laser scanner
title_full Extrinsic calibration of stereo camera and three-dimensional laser scanner
title_fullStr Extrinsic calibration of stereo camera and three-dimensional laser scanner
title_full_unstemmed Extrinsic calibration of stereo camera and three-dimensional laser scanner
title_sort extrinsic calibration of stereo camera and three-dimensional laser scanner
publisher Samara National Research University
series Компьютерная оптика
issn 0134-2452
2412-6179
publishDate 2019-04-01
description The paper describes an approach that allows solving the problem of extrinsic calibration of a multi-beam lidar and a stereo camera. The approach does not impose any restrictions on the place in which calibration should be performed. Calibration is performed using a calibration board, which is a flat rectangle with special markers. Three-dimensional correspondences are used for calibration. First, a search for the three-dimensional coordinates of the corner points of the calibration board in the coordinate systems of the stereo pair cameras as well as in the coordinate system of the lidar is made. Next, using the optimization methods, calibration parameters are calculated. The results of a series of virtual and real experiments show that the algorithm allows the calibration to be performed with an accuracy comparable to that of sensors. The proposed approach allows one to improve the calibration accuracy due to the simultaneous use of information from two cameras of the stereo pair and is suitable for lidars with both the low and high point density.
topic stereo camera
lidar
extrinsic calibration
data fusion
url http://computeroptics.ru/KO/PDF/KO43-2/430208.pdf
work_keys_str_mv AT alexanderabramenko extrinsiccalibrationofstereocameraandthreedimensionallaserscanner
_version_ 1724942242720776192