Extracting extrinsic parameters of a laser scanner and a camera using EM

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Volumn , Issue , 2009, Pages 5269-5272

  Park, Jae Han ^a   Shin, Yong Deuk ^a   Park, Kyung Wook ^a   Baeg, Seung Ho ^a   Baeg, Moon Hong ^a  

^a Korea Institute of Industrial Technology ^*  (South Korea)

Author keywords

Extrinsic calibration EM

Indexed keywords

3D LASER SCAN SYSTEM; CO-ORDINATE SYSTEM; COLORED MAPS; EXPECTATION-MAXIMIZATION ALGORITHMS; EXTRINSIC CALIBRATION; EXTRINSIC PARAMETER; LASER MEASUREMENTS; LASER SCANNER; MAP IMAGE; NOISY ENVIRONMENT; NOVEL METHODS; RIGID TRANSFORMATIONS; ROBUST ESTIMATION; SPATIAL DATA;

CALIBRATION; CAMERAS; COORDINATE MEASURING MACHINES; LASER APPLICATIONS; SCANNING;

THREE DIMENSIONAL;

EID: 77951095783     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

1. S.Thrun, D.Fox and W.Burgard, "A real-time algorithm for mobile robot with application to multi robot and 3D mapping" In Proceedings of the IEEE International Conference on Robotics and Automation , 2000
2. H.Surmann, A.Nüchter, and J.Hertzberg "An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environment", Robotics and Autonomous Systems, 45 pp. 181-198, 2003
3. Z.Zhang. "Flexible Camera Calibration by Viewing a Plane from Unknown Orientations", IEEE Transaction on Pattern analysis and Machine Intelligence, Vol.11, No.22, pp. 1330-1334, 2000
4. K.Pervölz, A.Nüchter, H.Surmann, and J.Hertzberg. "Automatic Reconstruction of Colored 3D Models", In Proceedings of Robotik ,2004
5. Q.Zhang and R.Pless, "Extrinsic Calibration of a Camera and Laser Range Finder", In Proceedings of the IEEE International Conference on Intelligent Robots and Systems ,2004
6. P.Besl and N.Mckay, "A Method for Registration of 3D Shapes", IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.14, No.2, pp. 239-256, 1992
7. G.Li and Y.Liu, "An Algorithm for Extrinsic Parameters Calibration of a Camera and a Laser Range Finder Using Line Features", Proceedings of IEEE International Conference on Intelligent Robots and Systems,2007
8. S.Thrun, C.Martin, Y.Liu, D.Hähnel, R. Emery-Montemerlo, D. Chakrabarti, and W. Burgard "A Real-Time Expectation-Maximization Algorithm for Acquiring Multiplanar Maps of Indoor Environments with Mobile Robots", IEEE Transactions on Robotics and Automation, Vol.20, No.3, 2004
9. Berthold K.P.Horn, "Closed-form solution of absolute orientation using unit quaternions", Optical Society of America, Vol.4, No.4, pp. 629-642, 1987