This work is motivated by a development of a portable and low-cost solution for road mapping in downtown area using a number of laser scanners and video cameras that are mounted on an intelligent vehicle. Sensors on the vehicle platform are considered to be removable, so that extrinsic calibrations are required after each sensors' setting up. Extrinsic calibration might always happen at or near measuremental sites, so that the facilities such as specially marked large environment could not be supposed as a given in the process. In this research, we present a practical method for extrinsic calibration of multiple laser scanners and video cameras that are mounted on a vehicle platform. Refering to a fiducial coordinate system on vehicle platform, a constraint between the data of a laser scanner and of a video camera is established. It is solved in an iterative way to find a best solution from the laser scanner and from the video camera to the fiducial coordinate system. On the other hand, all laser scanners and video cameras are calibrated for each laser scanner and video camera pair that has common in feature points in a sequential way. An experiment is conducted using the data measured on a normal street road. Calibration results are demonstrated by fusing the sensor data into a global coordinate system.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An efficient extrinsic calibration of a multiple laser scanners and cameras' sensor system on a mobile platform


    Contributors:


    Publication date :

    2007-06-01


    Size :

    855581 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    An efficient extrinsic calibration of a multiple laser scanners and cameras sensor system on a mobile platform

    Zhao, H. / Chen, Y. / Shibasaki, R. et al. | British Library Conference Proceedings | 2007


    CALIBRATION OF CAMERAS AND SCANNERS ON UAV AND MOBILE PLATFORMS

    HABIB AYMAN F | European Patent Office | 2023

    Free access

    Calibration of cameras and scanners on UAV and mobile platforms

    HABIB AYMAN F | European Patent Office | 2023

    Free access

    CALIBRATION OF CAMERAS AND SCANNERS ON UAV AND MOBILE PLATFORMS

    HABIB AYMAN F | European Patent Office | 2020

    Free access

    Exciting trajectories for extrinsic calibration of mobile robots with cameras

    Khomutenko, Bogdan / Garcia, Gaetan / Martinet, Philippe | IEEE | 2017