Title :
Automatic alignment of a camera with a line scan LIDAR system
Author :
Naroditsky, Oleg ; Patterson, Alexander, IV ; Daniilidis, Kostas
Author_Institution :
Dept. of Comput. & Inf. Sci., Univ. of Pennsylvania, Philadelphia, PA, USA
Abstract :
We propose a new method for extrinsic calibration of a line-scan LIDAR with a perspective projection camera. Our method is a closed-form, minimal solution to the problem. The solution is a symbolic template found via variable elimination and the multi-polynomial Macaulay resultant. It does not require initialization, and can be used in an automatic calibration setting when paired with RANSAC and least-squares refinement. We show the efficacy of our approach through a set of simulations and a real calibration.
Keywords :
calibration; cameras; least squares approximations; optical projectors; optical radar; polynomials; robot vision; RANSAC; automatic calibration; automatic camera alignment; closed form minimal solution; least squares refinement; line scan LIDAR system; multipolynomial Macaulay resultant; projection camera; symbolic template; variable elimination; Calibration; Cameras; Image edge detection; Laser radar; Polynomials; Three dimensional displays;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5980513
