Automatic Extrinsic Self-Calibration for Fusing Data from Monocular Vision and 3-D Laser Scanner

被引：34

作者：

Zhuang, Yan ^{[1
]}

Yan, Fei ^{[1
]}

Hu, Huosheng ^{[2
]}

机构：

[1] Dalian Univ Technol, Res Ctr Informat & Control, Dalian 116024, Peoples R China

[2] Univ Essex, Sch Comp Sci & Elect Engn, Colchester CO4 3SQ, Essex, England

来源：

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT | 2014年 / 63卷 / 07期

基金：

中国国家自然科学基金;

关键词：

3-D laser scanner; data fusion; extrinsic calibration; monocular vision; RGB-D scene reconstruction;

D O I：

10.1109/TIM.2014.2307731

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In this paper, an extrinsic self-calibration approach is proposed for solving the problem of real-time data fusion between monocular vision and 3-D laser scanner. A novel calibration board is designed for data fusion so that the extrinsic parameters can be obtained automatically by matching the corner features extracted from both vision and laser data. Experimental results obtained from both indoor and outdoor RGB-D scene reconstruction demonstrate the validity and good performance of the proposed approach.

引用

页码：1874 / 1876

页数：3

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