Cross-calbration of push-broom 2D LIDARs and cameras in natural scenes
Napier, Ashley, Corke, Peter, & Newman, Paul (2013) Cross-calbration of push-broom 2D LIDARs and cameras in natural scenes. In Parker, Lynne E. (Ed.) Proceedings of 2013 IEEE International Conference on Robotics and Automation, IEEE, Karlsruhe, Germany.
This paper addresses the problem of automatically estimating the relative pose between a push-broom LIDAR and a camera without the need for artificial calibration targets or other human intervention. Further we do not require the sensors to have an overlapping field of view, it is enough that they observe the same scene but at different times from a moving platform. Matching between sensor modalities is achieved without feature extraction. We present results from field trials which suggest that this new approach achieves an extrinsic calibration accuracy of millimeters in translation and deci-degrees in rotation.
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|Item Type:||Conference Paper|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2013 IEEE.|
|Copyright Statement:||Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.”|
|Deposited On:||15 May 2013 07:21|
|Last Modified:||28 Jan 2014 20:17|
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