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一种针孔相机与三维激光雷达外参标定方法
Alternative TitleExtrinsic parameters calibration method for pinhole camera and 3D LiDAR
韩正勇1,2; 卜春光1; 刘宸3
Department机器人学研究室
Source Publication传感器与微系统
ISSN2096-2436
2018
Volume37Issue:4Pages:9-12, 16
Indexed ByCSCD
CSCD IDCSCD:6223694
Contribution Rank1
Funding Organization中国科学院重点部署项目(KGFZD—125—15—010)
Keyword外参标定 多传感器数据融合 针孔相机 3维激光雷达 机器视觉
Abstract

针对针孔相机和三维激光雷达的外参标定问题,提出了一种新的方法:利用相机坐标系和激光坐标系下棋盘面的对应性,将外参标定转换为三维空间中旋转、缩放矩阵的求解问题。每帧数据可以提供4个约束,最少只需3帧数据可求解外参矩阵。方法原理简单易懂,直观明了地解释了失效退化原因。仿真实验与真实数据实验表明:提出的方法可以得到高精度的外参矩阵,且在采样帧数较少的情况下依旧可以获得很好的标定效果。

Other Abstract

A new method is proposed to solve problem of extrinsic parameters calibration of pinhole camera and 3D LiDAR.The problem is converted into solving the rotation and scaling matrix in the three-dimensional space according to the correspondence of chessboard in camera coordinate and 3D LiDAR coordinate systems.Each frame data can provide 4 constraints and at least 3 frames data can solve extrinsic matrix.The calibration approach is clear and easy to understand and it can be used to explain the degenerate configuration reason.Simulation and real experimental data show that the method can get high precision extrinsic matrix and can obtain better calibration results with limited sampling frames.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21898
Collection机器人学研究室
Corresponding Author韩正勇
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室;
2.中国科学院大学;
3.沈阳理工大学机械工程学院
Recommended Citation
GB/T 7714
韩正勇,卜春光,刘宸. 一种针孔相机与三维激光雷达外参标定方法[J]. 传感器与微系统,2018,37(4):9-12, 16.
APA 韩正勇,卜春光,&刘宸.(2018).一种针孔相机与三维激光雷达外参标定方法.传感器与微系统,37(4),9-12, 16.
MLA 韩正勇,et al."一种针孔相机与三维激光雷达外参标定方法".传感器与微系统 37.4(2018):9-12, 16.
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