Title :
Infrastructure-based calibration of a multi-camera rig
Author :
Heng, Liang ; Burki, Mathias ; Gim Hee Lee ; Furgale, Paul ; Siegwart, R. ; Pollefeys, Marc
Author_Institution :
Comput. Vision & Geometry Lab., ETH Zurich, Zurich, Switzerland
fDate :
May 31 2014-June 7 2014
Abstract :
The online recalibration of multi-sensor systems is a fundamental problem that must be solved before complex automated systems are deployed in situations such as automated driving. In such situations, accurate knowledge of calibration parameters is critical for the safe operation of automated systems. However, most existing calibration methods for multisensor systems are computationally expensive, use installations of known fiducial patterns, and require expert supervision. We propose an alternative approach called infrastructure-based calibration that is efficient, requires no modification of the infrastructure, and is completely unsupervised. In a survey phase, a computationally expensive simultaneous localization and mapping (SLAM) method is used to build a highly accurate map of a calibration area. Once the map is built, many other vehicles are able to use it for calibration as if it were a known fiducial pattern. We demonstrate the effectiveness of this method to calibrate the extrinsic parameters of a multi-camera system. The method does not assume that the cameras have an overlapping field of view and it does not require an initial guess. As the camera rig moves through the previously mapped area, we match features between each set of synchronized camera images and the map. Subsequently, we find the camera poses and inlier 2D-3D correspondences. From the camera poses, we obtain an initial estimate of the camera extrinsics and rig poses, and optimize these extrinsics and rig poses via non-linear refinement. The calibration code is publicly available as a standalone C++ package.
Keywords :
C++ language; calibration; image sensors; pose estimation; SLAM; automated driving; calibration code; calibration methods; camera extrinsics; camera poses; computationally expensive simultaneous localization and mapping method; expert supervision; fiducial patterns; infrastructure-based calibration; inlier 2D-3D correspondences; multicamera rig; multicamera system; multisensor systems; nonlinear refinement; online recalibration; rig poses; standalone C++ package; synchronized camera images; Accuracy; Calibration; Cameras; Computational modeling; Three-dimensional displays; Transforms; Vehicles;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6907579