Extrinsic Camera Calibration with Line-Laser Projection

被引:7
|
作者
Van Crombrugge, Izaak [1 ]
Penne, Rudi [1 ]
Vanlanduit, Steve [1 ]
机构
[1] Univ Antwerp, Fac Appl Engn, Dept Electromech, Groenenborgerlaan 171, B-2020 Antwerp, Belgium
关键词
camera calibration; multi-camera; extrinsic calibration; non-overlap; field of view;
D O I
10.3390/s21041091
中图分类号
O65 [分析化学];
学科分类号
070302 ; 081704 ;
摘要
Knowledge of precise camera poses is vital for multi-camera setups. Camera intrinsics can be obtained for each camera separately in lab conditions. For fixed multi-camera setups, the extrinsic calibration can only be done in situ. Usually, some markers are used, like checkerboards, requiring some level of overlap between cameras. In this work, we propose a method for cases with little or no overlap. Laser lines are projected on a plane (e.g., floor or wall) using a laser line projector. The pose of the plane and cameras is then optimized using bundle adjustment to match the lines seen by the cameras. To find the extrinsic calibration, only a partial overlap between the laser lines and the field of view of the cameras is needed. Real-world experiments were conducted both with and without overlapping fields of view, resulting in rotation errors below 0.5 degrees. We show that the accuracy is comparable to other state-of-the-art methods while offering a more practical procedure. The method can also be used in large-scale applications and can be fully automated.
引用
收藏
页码:1 / 15
页数:15
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