Comprehensive Extrinsic Calibration of a Camera and a 2D Laser Scanner for a Ground Vehicle

Abstract : Cameras and laser scanners are two important kinds of perceptive sensors and both become more and more commonly used for intelligent ground vehicles; the calibration of these sensors is a fundamental task. A new method is proposed to perform COMPREHENSIVE extrinsic calibration of a SINGLE camera-2D laser scanner pair, i.e. the process of revealing ALL the spatial relationships among the camera coordinates system, the laser scanner coordinates system, the ground coordinates system, and the vehicle coordinates system. The proposed method is mainly based on the convenient and widely used chessboard calibration practice and can be conveniently implemented. The proposed method has been tested on both synthetic data and real data based experiments, which validate the effectiveness of the proposed method.
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Submitted on : Saturday, June 21, 2014 - 1:37:41 PM
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  • HAL Id : hal-00848609, version 2

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Hao Li, Fawzi Nashashibi. Comprehensive Extrinsic Calibration of a Camera and a 2D Laser Scanner for a Ground Vehicle. [Technical Report] RT-0438, INRIA. 2013, pp.24. ⟨hal-00848609v2⟩

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