Title :
Automatic Calibration of a Range Sensor and Camera System
Author :
Alismail, Hatem ; Baker, L. Douglas ; Browning, Brett
Author_Institution :
Nat. Robot. Eng. Center, Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
We propose an automated method to recover the full calibration parameters between a 3D range sensor and a monocular camera system. Our method is not only accurate and fully automated, but also relies on a simple calibration target consisting of a single circle. This allows the algorithm to be suitable for applications requiring in-situ calibration. We demonstrate the effectiveness of the algorithm on a camera-lidar system and show results on 3D mapping tasks.
Keywords :
calibration; cameras; image sensors; optical radar; 3D mapping tasks; 3D range sensor; automatic calibration; calibration parameter recovery; camera-lidar system; monocular camera system; simple calibration target; single circle; Calibration; Cameras; Iterative closest point algorithm; Laser radar; Robot vision systems; actuated lidar camera; calibration; camera-lidar calibration; colorized point clouds;
Conference_Titel :
3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT), 2012 Second International Conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4673-4470-8
DOI :
10.1109/3DIMPVT.2012.52
