Extrinsic Calibration of 2-D Laser Rangefinder and Camera From Single Shot Based on Minimal Solution

IEEE Transactions on Instrumentation and Measurement

Volumn 65, Issue 4, 2016, Pages 915-929

  Hu, Zhaozheng ^a,b   Li, Yicheng ^a   Li, Na ^a   Zhao, Bin ^b  

^a WUHAN UNIVERSITY OF TECHNOLOGY   (China)

^b HEBEI UNIVERSITY OF TECHNOLOGY   (China)

Author keywords

2 D laser rangefinder (LRF); extrinsic calibration; minimal solution; perspective three line (P3L); perspective three point (P3P); trirectangular trihedron

Indexed keywords

CAMERAS; RANGE FINDERS;

EXTRINSIC CALIBRATION; LASER RANGE FINDERS; MINIMAL SOLUTIONS; PERSPECTIVE-THREE-LINE (P3L); PERSPECTIVE-THREE-POINT (P3P); TRIRECTANGULAR TRIHEDRON;

CALIBRATION;

EID: 84969326986     PISSN: 00189456     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIM.2016.2518248     Document Type: Article

References (32)

1. L. Wei, C. Cappelle, and Y. Ruichek, "Camera/laser/GPS fusion method for vehicle positioning under extended NIS-based sensor validation," IEEE Trans. Instrum. Meas., vol. 62, no. 11, pp. 3110-3122, Nov. 2013.
2. S. Shirmohammadi and A. Ferrero, "Camera as the instrument: The rising trend of vision based measurement," IEEE Instrum. Meas. Mag., vol. 17, no. 3, pp. 41-47, Jun. 2014.
3. T. J. Osgood and Y. Huang, "Calibration of laser scanner and camera fusion system for intelligent vehicles using Nelder-Mead optimization," Meas. Sci. Technol., vol. 24, no. 3, pp. 035101-1-035101-10, 2013.
4. Q. Zhang and R. Pless, "Extrinsic calibration of a camera and laser range finder (improves camera calibration)," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS), vol. 3. Sep./Oct. 2004, pp. 2301-2306.
5. F. Vasconcelos, J. P. Barreto, and U. Nunes, "A minimal solution for the extrinsic calibration of a camera and a laser-rangefinder," IEEE Trans. Pattern Anal. Mach. Intell., vol. 34, no. 11, pp. 2097-2107, Nov. 2012.
6. N. Naikal, J. Kua, and A. Zakhor, "Image augmented laser scan matching for indoor localization," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS), 2009, pp. 4134-4141.
7. Z. Zhang, "A flexible new technique for camera calibration," IEEE Trans. Pattern Anal. Mach. Intell., vol. 22, no. 11, pp. 1330-1334, Nov. 2000.
8. J.-E. Ha, "Extrinsic calibration of a camera and laser range finder using a new calibration structure of a plane with a triangular hole," Int. J. Control, Autom., Syst., vol. 10, no. 6, pp. 1240-1244, 2013.
9. K. Kwak, D. F. Huber, H. Badino, and T. Kanade, "Extrinsic calibration of a single line scanning LIDAR and a camera," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., San Francisco, CA, USA, Sep. 2011, pp. 3283-3289.
10. H. Yang, X. Liu, and I. Patras, "A simple and effective extrinsic calibration method of a camera and a single line scanning lidar," in Proc. 21st Int. Conf. Pattern Recognit. (ICPR), 2012, pp. 1439-1442.
11. Y. Zhuang, F. Yan, and H. Hu, "Automatic extrinsic self-calibration for fusing data from monocular vision and 3-D laser scanner," IEEE Trans. Instrum. Meas., vol. 63, no. 7, pp. 1874-1876, Jul. 2014.
12. Y. Li, Y. Ruichek, and C. Cappelle, "Optimal extrinsic calibration between a stereoscopic system and a LIDAR," IEEE Trans. Instrum. Meas., vol. 62, no. 8, pp. 2258-2269, Aug. 2013.
13. L. Zhou, "A new minimal solution for the extrinsic calibration of a 2D LIDAR and a camera using three plane-line correspondences," IEEE Sensors J., vol. 14, no. 2, pp. 442-454, Feb. 2014.
14. R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2nd ed. Cambridge, U.K.: Cambridge Univ. Press, 2004.
15. M. A. Fischler and R. C. Bolles, "Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography," Commun. ACM, vol. 24, no. 6, pp. 381-395, 1981.
16. W. J. Wolfe, D. Mathis, C. W. Sklair, and M. Magee, "The perspective view of three points," IEEE Trans. Pattern Anal. Mach. Intell., vol. 13, no. 1, pp. 66-73, Jan. 1991.
17. S. Li, C. Xu, and M. Xie, "A robust O(n) solution to the perspective-npoint problem," IEEE Trans. Pattern Anal. Mach. Intell., vol. 34, no. 7, pp. 1444-1450, Jul. 2012.
18. L. Quan and Z. Lan, "Linear N-point camera pose determination," IEEE Trans. Pattern Anal. Mach. Intell., vol. 21, no. 8, pp. 774-780, Aug. 1999.
19. M. Dhome, M. Richetin, J.-T. Lapresté, and G. Rives, "Determination of the attitude of 3D objects from a single perspective view," IEEE Trans. Pattern Anal. Mach. Intell., vol. 11, no. 12, pp. 1265-1278, Dec. 1989.
20. C. Liu, F. Zhu, J. Ou, and Y. Yu, "Z-shaped perspective-three-line problem's unique solution conditions," in Proc. 3rd Int. Workshop Intell. Netw. Intell. Syst., 2010, pp. 132-135.
21. L. Zhang, C. Xu, K.-M. Lee, and R. Koch, "Robust and efficient pose estimation from line correspondences," in Proc. Asian Conf. Comput. Vis. (ACCV), vol. 7726. 2012, pp. 217-230.
22. F. Shi, X. Zhang, and Y. Liu, "A new method of camera pose estimation using 2D-3D corner correspondence," Pattern Recognit. Lett., vol. 25, no. 10, pp. 1155-1163, 2004.
23. Z. Hu and T. Matsuyama, "Bayesian perspective-plane (BPP) with maximum likelihood searching for visual localization," Multimedia Tools Appl., vol. 74, no. 21, pp. 9547-9572, 2014.
24. Z.-Z. Hu and N. Li, "Vision-based localization from three-line structures (TLS)," J. Harbin Inst. Technol. (New Series), vol. 20, no. 3, pp. 48-55, 2013.
25. H. Rushmeier, J. Gomes, F. Giordano, H. El Shishiny, K. Magerlein, and F. Bernardini, "Design and use of an in-museum system for artifact capture," in Proc. Conf. Comput. Vis. Pattern Recognit. Workshop (CVPRW). vol. 1. Jun. 2003, pp. 8-13.
26. X. Gong, Y. Lin, and J. Liu, "3D LIDAR-camera extrinsic calibration using an arbitrary trihedron," Sensors, vol. 13, no. 2, pp. 1902-1918, 2013.
27. A. Geiger, F. Moosmann, Ö. Car, and B. Schuster, "Automatic camera and range sensor calibration using a single shot," in Proc. IEEE Int. Conf. Robot. Autom., May 2012, pp. 3936-3943.
28. Z. Chen, L. Zhuo, K. Sun, and C. Zhang, "Extrinsic calibration of a camera and a laser rangefinder using point to line constraint," in Proc. Int. Workshop Inf. Electron. Eng. (IWIEE), 2012, pp. 4348-4352.
29. R. Gomez-Ojeda, J. Briales, E. Fernandez-Moral, and J. Gonzalez-Jimenez, "Extrinsic calibration of a 2D laser-rangefinder and a camera based on scene corners," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), Seattle, WA, USA, May 2015, pp. 3611-3616.
30. P. K. Allen. (2010). 3D Photography: Point Based Rigid Registration. [Online]. Available: http://www.cs.hunter.cuny.edu/~ioannis/registerpts-allen-notes.pdf
31. K. S. Arun, T. S. Huang, and S. D. Blostein, "Least-squares fitting of two 3-D point sets," IEEE Trans. Pattern Anal. Mach. Intell., vol. 9, no. 5, pp. 698-700, Sep. 1987.
32. J. Bouguet. Camera Calibration Toolbox. [Online]. Available: http://www.vision.caltech.edu/bouguetj/, accessed Jun. 2008.