LIDAR and panoramic camera extrinsic calibration approach using a pattern plane

Angel Iván García-Moreno, José Joel Gonzalez-Barbosa, Francisco Javier Ornelas-Rodriguez, Juan B. Hurtado-Ramos, Marco Neri Primo-Fuentes

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

19 Citas (Scopus)

Resumen

Mobile platforms typically combine several data acquisition systems such as lasers, cameras and inertial systems. However the geometrical combination of the different sensors requires their calibration, at least, through the definition of the extrinsic parameters, i.e., the transformation matrices that register all sensors in the same coordinate system. Our system generate an accurate association between platform sensors and the estimated parameters including rotation, translation, focal length, world and sensors reference frame. The extrinsic camera parameters are computed by Zhang's method using a pattern composed of white rhombus and rhombus holes, and the LIDAR with the results of previous work. Points acquired by the LIDAR are projected into images acquired by the Ladybug cameras. A new calibration pattern, visible to both sensors is used. Correspondence is obtained between each laser point and its position in the image, the texture and color of each point of LIDAR can be know.

Idioma originalInglés
Título de la publicación alojadaPattern Recognition - 5th Mexican Conference, MCPR 2013, Proceedings
Páginas104-113
Número de páginas10
DOI
EstadoPublicada - 2013
Evento5th Mexican Conference on Pattern Recognition, MCPR 2013 - Queretaro, México
Duración: 26 jun 201329 jun 2013

Serie de la publicación

NombreLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volumen7914 LNCS
ISSN (versión impresa)0302-9743
ISSN (versión digital)1611-3349

Conferencia

Conferencia5th Mexican Conference on Pattern Recognition, MCPR 2013
País/TerritorioMéxico
CiudadQueretaro
Período26/06/1329/06/13

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