Automatic Alignment of a Camera with a Line Scan LIDAR System

摘要：

We propose a new method for extrinsic calibration of a line-scan LIDAR with a perspective projection camera. Our method is a closed-form, minimal solution to the problem. The solution is a symbolic template found via variable elimination and the multi-polynomial Macaulay resultant. It does not require initialization, and can be used in an automatic calibration setting when paired with RANSAC and least-squares refinement. We show the efficacy of our approach through a set of simulations and a real calibration.

作者: Oleg Naroditsky Alexander Patterson IV Kostas Daniilidis

作者单位: GRASP Laboratory,Department of Computer and Information Science,University of Pennsylvania,Philadelphia,PA,USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3429-3434

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）