TY - GEN
T1 - Calibration of a 3D laser range finder and a camera based on stereoscopic checkerboard
AU - Jia, Tingxiang
AU - Fu, Mengyin
AU - Yang, Yi
AU - Zhu, Hao
PY - 2011
Y1 - 2011
N2 - In this paper, we propose a stereoscopic checkerboard based method for calibration of a 3D laser range finder (LRF) and a camera. Mixed pixels have great negative impact when extracting featured corners artificially, so we designed stereoscopic checkerboard to overcome this defect. By using depth division to separate the upper surface of checkers, we can successfully eliminate the impact of mixed pixels. As for the problem of point correspondences deviations which is caused by the LRF and the camera's different resolution. We develop optimal combination method to find the best combination by removing point correspondences that have large deviation so as to improve calibration accuracy. At last, we utilize Levenberg-Marquardt nonlinear optimization algorithm to optimize results. Experimental results showed strong evidence that our method can achieve high calibration accuracy.
AB - In this paper, we propose a stereoscopic checkerboard based method for calibration of a 3D laser range finder (LRF) and a camera. Mixed pixels have great negative impact when extracting featured corners artificially, so we designed stereoscopic checkerboard to overcome this defect. By using depth division to separate the upper surface of checkers, we can successfully eliminate the impact of mixed pixels. As for the problem of point correspondences deviations which is caused by the LRF and the camera's different resolution. We develop optimal combination method to find the best combination by removing point correspondences that have large deviation so as to improve calibration accuracy. At last, we utilize Levenberg-Marquardt nonlinear optimization algorithm to optimize results. Experimental results showed strong evidence that our method can achieve high calibration accuracy.
KW - mixed pixels
KW - nonlinear optimization
KW - optimal combination
KW - stereoscopic checkerboard
UR - http://www.scopus.com/inward/record.url?scp=80052914002&partnerID=8YFLogxK
U2 - 10.1109/ICVES.2011.5983753
DO - 10.1109/ICVES.2011.5983753
M3 - Conference contribution
AN - SCOPUS:80052914002
SN - 9781457705762
T3 - Proceedings of 2011 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2011
SP - 92
EP - 96
BT - Proceedings of 2011 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2011
T2 - 2011 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2011
Y2 - 10 July 2011 through 12 July 2011
ER -