Automatic Extrinsic Self-Calibration for Fusing Data From Monocular Vision and 3-D Laser Scanner

Author

Yan Zhuang ; Fei Yan ; Huosheng Hu

Author_Institution

Res. Center of Inf. & Control, Dalian Univ. of Technol., Dalian, China

Volume

63

Issue

7

fYear

2014

fDate

Jul-14

Firstpage

1874

Lastpage

1876

Abstract

In this paper, an extrinsic self-calibration approach is proposed for solving the problem of real-time data fusion between monocular vision and 3-D laser scanner. A novel calibration board is designed for data fusion so that the extrinsic parameters can be obtained automatically by matching the corner features extracted from both vision and laser data. Experimental results obtained from both indoor and outdoor RGB-D scene reconstruction demonstrate the validity and good performance of the proposed approach.

Keywords

calibration; computer vision; feature extraction; image colour analysis; image matching; image reconstruction; optical scanners; sensor fusion; 3D laser scanner; RGB-D scene reconstruction; automatic extrinsic self-calibration approach; extracted corner feature matching; monocular vision; real-time data fusion; Calibration; Cameras; Data acquisition; Data integration; Laser fusion; Measurement by laser beam; 3-D laser scanner; RGB-D scene reconstruction; RGB-D scene reconstruction.; data fusion; extrinsic calibration; monocular vision;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/TIM.2014.2307731

Filename

6776467