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浙江大学学报(工学版)
J4  2009, Vol. 43 Issue (8): 1401-1405    DOI: 10.3785/j.issn.1008-973X.2009.
电子、通信与自动控制技术     
摄像机与3D激光雷达联合标定的新方法
项志宇1,2,郑路1,2
(1.浙江大学 信息与电子工程学系, 浙江 杭州 310027； 2.浙江省综合信息网技术重点实验室, 浙江 杭州 310027)
Novel joint calibration method of camera and 3D laser range finder
 XIANG Zhi-Yu1,2, ZHENG Lu1,2
1. Department of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, China;
2. Zhejiang Provincial Key Laboratory of Information Network Technology, Hangzhou 310027, China
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摘要：

针对摄像机与3D激光雷达融合系统的标定问题,提出了一种基于平面标定模版的新方法.整个标定过程分为单传感器独立标定和多传感器联合标定两部分.与以往的基于特征点或者边缘对应的标定方法不同,根据传感器原点到标定平面的距离对应性原理实现了联合标定,解决了在激光雷达距离图像上提取特征点或者边缘时精度较低带来的问题.同时,仅采用同一块平面模板完成了整个标定过程,简单实用.实验结果表明,相比传统标定方法,本方法能够获得更高的精度.
Abstract:

A novel calibration method employing only a planar calibration board for joint calibration of a camera and a 3D laser range finder  was proposed. The calibration process is composed of two successive steps, i.e. calibration of each sensor independently and joint calibration of both sensors later. Different from the traditional methods which find the solution by correspondence of key points or edges, the distance pairs between the sensors’ original points and the target plane are adopted as the main cues of the calibration. By this, the problem of low accuracy when extracting key points or edges on the laser range images is avoided. Furthermore the whole calibration process can be implemented by using only one planar calibration board, which is simple and practical. Experimental results show that the proposed method can achieve calibration results with higher precision than those of traditional methods.
出版日期: 2009-09-28
:  TN 958  
基金资助:

国家自然科学基金资助项目（60505017，60534070）
作者简介: 项志宇（1973-），男，浙江金华人，副教授，博士，主要从事视觉信号处理与信息融合的研究.
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引用本文:

项志宇, 郑路. 摄像机与3D激光雷达联合标定的新方法[J]. J4, 2009, 43(8): 1401-1405.

XIANG Zhi-Yu, ZHENG Lu. Novel joint calibration method of camera and 3D laser range finder. J4, 2009, 43(8): 1401-1405.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2009.    或    http://www.zjujournals.com/eng/CN/Y2009/V43/I8/1401

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