Extrinsic Calibration of a Camera and Laser Range Finder

Authors

Robert Pless, Washington University in St. LouisFollow
Qilong Zhang, Washington University in St. Louis

Document Type

Technical Report

Publication Date

2003-08-11

Filename

wucse-2003-58.pdf

Technical Report Number

WUCSE-2003-58

Abstract

We describes theoretical and experimental results for the extrinsic calibration of sensor platform consisting of a camera and a laser range finder. The proposed technique requires the system to observe a planar pattern in several poses, and the constraints are based upon data captured simultaneously from the camera and the laser range finder. The planar pattern surface and the laser scanline on the planar pattern are related, so these data constrain the relative position and orientation of the camera and laser range finder. The calibration procedure starts with a closed-from solution, which provides initial conditions for a subsequent nonlinear refinement. We present the results from both computer simulated data and an implementation on a B21rT M Mobile Robot from iRobot Corporation, using a Sony firewire digital camera and SICK PLS laser scanner.

Comments

Permanent URL: http://dx.doi.org/10.7936/K78K77DH

Recommended Citation

Pless, Robert and Zhang, Qilong, "Extrinsic Calibration of a Camera and Laser Range Finder" Report Number: WUCSE-2003-58 (2003). All Computer Science and Engineering Research.
https://openscholarship.wustl.edu/cse_research/1103