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题名:
Joint calibration of a camera and a laser range finder from grid calibration target
作者: Liu C(刘澈); Jiang Y(姜勇); Yang ML(杨梦龙)
作者部门: 空间自动化技术研究室
通讯作者: 刘澈
会议名称: 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议日期: June 19-22, 2016
会议地点: Chengdu, China
会议录: 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2016
页码: 497-501
收录类别: EI ; CPCI(ISTP)
ISSN号: 2379-7711
ISBN号: 978-1-5090-2732-3
关键词: Information fusion ; triangular mesh ; joint calibration
摘要: Joint calibration of the laser range finder (LRF) and the camera is the foundation of their information fusion and it is also the key step in visual measurement. In this paper, a joint calibration method based on the feature points matching of a grid calibration target is proposed. Firstly, the camera and the LRF internal parameters are calibrated. Then the cloud point data which LRF output is dealt to be triangular mesh. Normal vector of each triangular mesh is calculated, though projecting normal vector to color space, the normal vector (NV) image is constructed. Detecting the edges of the grid calibration target in NV image and color image, intersections of the edges are regard as the feature points. Finally the transformation matrix between LRF coordinate system and image coordinate system is solved by the feature points.
语种: 英语
产权排序: 1
EI收录号: 20164302940222
WOS记录号: WOS:000389835200093
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19311
Appears in Collections:空间自动化技术研究室_会议论文

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Recommended Citation:
Liu C,Jiang Y,Yang ML. Joint calibration of a camera and a laser range finder from grid calibration target[C]. 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016. Chengdu, China. June 19-22, 2016.Joint calibration of a camera and a laser range finder from grid calibration target.
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