## Extrinsic calibration of a camera and laser range finder (2004)

Venue: | In IEEE International Conference on Intelligent Robots and Systems (IROS |

Citations: | 56 - 0 self |

### BibTeX

@INPROCEEDINGS{Zhang04extrinsiccalibration,

author = {Qilong Zhang},

title = {Extrinsic calibration of a camera and laser range finder},

booktitle = {In IEEE International Conference on Intelligent Robots and Systems (IROS},

year = {2004},

pages = {2004}

}

### Years of Citing Articles

### OpenURL

### Abstract

Abstract — We describe theoretical and experimental results for the extrinsic calibration of sensor platform consisting of a camera and a 2D laser range finder. The calibration is based on observing a planar checkerboard pattern and solving for constraints between the “views ” of a planar checkerboard calibration pattern from a camera and laser range finder. we give a direct solution that minimizes an algebraic error from this constraint, and subsequent nonlinear refinement minimizes a re-projection error. To our knowledge, this is the first published calibration tool for this problem. Additionally we show how this constraint can reduce the variance in estimating intrinsic camera parameters. I.

### Citations

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Citation Context .... II. BASIC EQUATIONS A camera can be described by the usual pinhole model. A projection from the world coordinates P = [X ,Y,Z] ⊤ to the image coordinates p = [u ,v ] ⊤ can be represented as follows =-=[6]-=-: p ∼ K(RP + t) (1) where K is the camera intrinsic matrix, R a 3 × 3 orthonormal matrix representing the camera’s orientation, and t a 3-vector representing its position. In real cases, the camera ca... |

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Citation Context ...arameter, which is in the direction the rotation axis and has a magnitude equal to the rotation angle. We minimize (6) as a nonlinear optimization problem by using the Levenberg-Marquardt method [8], =-=[10]-=-, [11]. This requires an initial guess of Φ and ∆, which is obtained using the method described in the previous section. Both camera and laser range finder have some noises in their outputs, and we fo... |

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Citation Context ...rst, we assume the camera is calibrated [2] and what remains is to determine the calibration plane parameters by solving the pose of the camera with respect to the checkerboard, which is discussed in =-=[13]-=-. Once the camera’s extrinsic parameters (R,t) are determined with respect to the checkerboard, the calibration plane parameter N can be obtained by (3). Since all laser points are on the plane Y=0 in... |

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Citation Context ...tor parameter, which is in the direction the rotation axis and has a magnitude equal to the rotation angle. We minimize (6) as a nonlinear optimization problem by using the Levenberg-Marquardt method =-=[8]-=-, [10], [11]. This requires an initial guess of Φ and ∆, which is obtained using the method described in the previous section. Both camera and laser range finder have some noises in their outputs, and... |

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Citation Context ...era parameters. This can be extended to refine the intrinsic parameters more accurately than the standard singe camera calibration method. A. Linear Solution First, we assume the camera is calibrated =-=[2]-=- and what remains is to determine the calibration plane parameters by solving the pose of the camera with respect to the checkerboard, which is discussed in [13]. Once the camera’s extrinsic parameter... |

34 | Data processing algorithms for generating textured 3d building facade meshes from laser scans and camera images
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Citation Context ...pe which is then viewed by the camera. Finding the geometric relationship between the laser scanner and the camera is vital to creating metric depth estimates to build textured 3D models, for example =-=[3]-=-. Calibration methods exist for this problem, which make use of the visible position of the laser point or stripe [7]. In this paper we consider an extrinsic calibration of a camera with a laser range... |

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Citation Context ...er, which is in the direction the rotation axis and has a magnitude equal to the rotation angle. We minimize (6) as a nonlinear optimization problem by using the Levenberg-Marquardt method [8], [10], =-=[11]-=-. This requires an initial guess of Φ and ∆, which is obtained using the method described in the previous section. Both camera and laser range finder have some noises in their outputs, and we found th... |

13 | Self-calibration of a light striping system by matching multiple3-d profile maps
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Citation Context ...ents in large angular fields at a fixed height above the ground plane, and enable robots to perform more confidently a wide range of tasks by fusing image data from the camera mounted on robots [12], =-=[1]-=-, [5], [9]. In order to effectively use the data from the camera and laser range finder, it is important to know their relative position and orientation from each other, which affects the geometric in... |

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Citation Context ...asurements in large angular fields at a fixed height above the ground plane, and enable robots to perform more confidently a wide range of tasks by fusing image data from the camera mounted on robots =-=[12]-=-, [1], [5], [9]. In order to effectively use the data from the camera and laser range finder, it is important to know their relative position and orientation from each other, which affects the geometr... |

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Citation Context ...rge angular fields at a fixed height above the ground plane, and enable robots to perform more confidently a wide range of tasks by fusing image data from the camera mounted on robots [12], [1], [5], =-=[9]-=-. In order to effectively use the data from the camera and laser range finder, it is important to know their relative position and orientation from each other, which affects the geometric interpretati... |

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Lewis the Robot Photographer
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Citation Context ...in large angular fields at a fixed height above the ground plane, and enable robots to perform more confidently a wide range of tasks by fusing image data from the camera mounted on robots [12], [1], =-=[5]-=-, [9]. In order to effectively use the data from the camera and laser range finder, it is important to know their relative position and orientation from each other, which affects the geometric interpr... |