Outline Introduction Objective Calibration Process Our Work
Improving Laser Data Automate Data Collection Conclusion 2
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LRF-Camera System 3
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4
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LRF-Camera Calibration Problem Definition Find the
transformation [R |t ] of the camera w.r.t. LRF 5
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Objective Related Work LRF-Camera Calibration Calibration of a
multi-sensor system laser rangefinder/camera, 1995 More Accurate
Result Extrinsic calibration of a camera and laser range finder
(improves camera calibration), 2004 Easier Process An algorithm for
extrinsic parameters calibration of a camera and a laser range
finder using line features, 2007 6 Proposal Improving Laser Data
Filtering Laser Data
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Objective 7 Proposal Improving Laser Data Filtering Laser Data
Thesis Improving Laser Data On Improving Laser Data for Extrinsic
LRF/Camera Calibration, 2011 Automated Process Automated
Calibration Data Collection in LRF/Camera Calibration with Online
Feedback, 2012 Related Work LRF-Camera Calibration Calibration of a
multi-sensor system laser rangefinder/camera, 1995 More Accurate
Result Extrinsic calibration of a camera and laser range finder
(improves camera calibration), 2004 Easier Process An algorithm for
extrinsic parameters calibration of a camera and a laser range
finder using line features, 2007
Slide 8
Objective Related Work LRF-Camera Calibration Calibration of a
multi-sensor system laser rangefinder/camera, 1995 More Accurate
Result Extrinsic calibration of a camera and laser range finder
(improves camera calibration), 2004 Easier Process An algorithm for
extrinsic parameters calibration of a camera and a laser range
finder using line features, 2007 8 Proposal Improving Laser Data
Filtering Laser Data Thesis Improving Laser Data On Improving Laser
Data for Extrinsic LRF/Camera Calibration, 2011 Automated Process
Automated Calibration Data Collection in LRF/Camera Calibration
with Online Feedback, 2012
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Calibration Process 9 Data Collection Optimization Check Result
End Start Feature Detection
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Calibration Process Data Collection 10
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Calibration Process Feature Detection 11
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Calibration Process Projection Error 12
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Calibration Process Optimization Simulated Annealing : Find
global minimum Levenberg-Marquardt : Find local minimum 13
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Calibration Process Result Project laser data onto an image
14
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Our Work Improving Laser Data Automatic Data Collection 15
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Improving Laser Data Angular Error => 16
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Simulation Angular Error => 17
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Simulation Laser Data Improvement 18 Target Methodimp plai n
ratioimp plai n ratio average RMS 0.3 2 0.5 4 54.8 % 0.9 2 2.0 4
48.0 % S.D. of RMS 0.0 07 0.0 32 22.1 % 0.0 03 0.0 19 16.5 %
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Experiment Laser Range Finder Camera 19
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Experiment Laser Data Improvement 20 TargetStingrayLegria
Methodimp plai n ratioimp plai n ratio average RMS 1.6 6 2.9 0 57.3
% 6.1 8 11.3 8 54.3 % S.D. of RMS 0.0 2 0.0 4 40.7 % 0.1 9 0.4 8
38.8 %