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Joint calibration of a camera and a laser range finder from grid calibration target
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
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
会议录名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码497-501
收录类别EI ; CPCI(ISTP)
EI收录号20164302940222
WOS记录号WOS:000389835200093
产权排序1
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19311
专题空间自动化技术研究室
通讯作者Liu C(刘澈)
作者单位1.Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.School of Automation and Electrical Engineering, Shenyang Ligong, China
推荐引用方式
GB/T 7714
Liu C,Jiang Y,Yang ML. Joint calibration of a camera and a laser range finder from grid calibration target[C]. Piscataway, NJ, USA:IEEE,2016:497-501.
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