Online Active Calibration for a Multi-LRF System

Multi-LRF (Laser Range Finder) systems have been broadly utilized in sensor fusion for automobiles. In order to convert multiple LRF data into a unified coordinate system, one has to obtain the rigid transformation among multi-LRFs. In this paper, the authors propose a new algorithm for online extrinsic calibration of multi-LRFs by observing a planar checkerboard pattern and solving for transformation between the views of a planar checkerboard from a camera and multi-LRF. Existing LRF calibration is achieved by freely moving a checkerboard pattern and conducting much offline optimization. Compared with traditional algorithm, the advantages of the authors' approach are twofold. Firstly, adopting the noise of images and LRF depth readings, one can exactly calculate the exact position and pose of the checkerboard that can largely reduce the transformation error. Secondly, the complete calibration process is online, which means the exact position and pose of the checkerboard can be obtained in real-time and manipulated by robotic arm. In the end, the authors' calibration approach is validated through real experiments that show the superiority with respect to the state-of-art methods.

Language

  • English

Media Info

  • Media Type: Web
  • Features: References;
  • Pagination: pp 806-811
  • Monograph Title: 18th International IEEE Conference on Intelligent Transportation Systems (ITSC 2015)

Subject/Index Terms

Filing Info

  • Accession Number: 01604637
  • Record Type: Publication
  • ISBN: 9781467365956
  • Files: TRIS
  • Created Date: May 2 2016 3:26PM