Results 291 to 300 of about 792,653 (314)

Extrinsic Calibration of High Resolution LiDAR and Camera Based on Vanishing Points

IEEE Transactions on Instrumentation and Measurement
Parallel lines, common geometric elements in daily environments, can form vanishing points in projective geometry. In this article, we introduce a novel method for the extrinsic calibration of high-resolution light detection and ranging (LiDAR) and ...
Yilin Zhao, Long Zhao, Fengli Yang, Wangfang Li, Yi Sun   +4 more
semanticscholar   +1 more source

Multi-sensor extrinsic calibration with the Adam optimizer

2019 12th International Workshop on Robot Motion and Control (RoMoCo), 2019
In this paper, we propose the application of the Adam optimizer to extrinsic calibration of the multi -sensory system. Our robot is equipped with three RGB-D cameras. The first camera is attached to the wrist of the arm, the second camera is mounted in the robot's head, and the third camera is attached to the mobile base.
Joanna Piasek, Rafal Staszak, Karol Piaskowski, Dominik Belter   +3 more
openaire   +1 more source

A Weighted Extrinsic Calibration of a Camera and a LRF

2021 4th International Conference on Intelligent Autonomous Systems (ICoIAS), 2021
Robots are often equipped with cameras and Laser Rangefinders (LRFs), and it is important to obtain their relative pose since they are separated. In this paper, an algorithm for calibrating the extrinsic parameters between a camera and a 2D LRF is proposed, and a system consisting of 2D LRF and a rotating unit is designed to obtain a 3D scanning map of
Shiheng Deng, Zhigang Sun, Kai Zhang, Li Xiao   +3 more
openaire   +1 more source

Autonomous–Targetless Extrinsic Calibration of Thermal, RGB, and LiDAR Sensors

IEEE Transactions on Instrumentation and Measurement
Mobile robots extensively employ multiple sensors, including RGBD cameras, LiDAR, and thermal sensors. Sensor fusion plays a vital role in localization and environment perception tasks.
Wenyu Yang, Haojun Luo, Kwai-wa Tse, Haochen Hu, Kang Liu, Boyang Li, Chih-yung Wen   +6 more
semanticscholar   +1 more source

Extrinsic calibration of a camera and laser range finder (improves camera calibration)

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), 2005
We describe theoretical and experimental results for the extrinsic calibration of sensor platform consisting of a camera and a 2D laser range finder. The calibration is based on observing a planar checkerboard pattern and solving for constraints between the "views" of a planar checkerboard calibration pattern from a camera and laser range finder.
Qilong Zhang, Robert Pless
openaire   +1 more source

Extrinsic calibration of a vision sensor mounted on a robot

IEEE Transactions on Robotics and Automation, 1992
A vision sensor mounted on a robot to detect surrounding objects is discussed. Its mounting position and orientation must be identified, resulting in an extrinsic calibration problem. The author presents three classes of extrinsic calibration procedures. All use closed-form solutions.
openaire   +1 more source

An efficient extrinsic calibration of a laser sensor

2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA), 2016
With 2D laser range finder sensors becoming more commonly used in robotic systems, this paper proposes an extrinsic calibration that requires only a single feature point and a single range finder, i.e. no additional sensors are needed. The calibration process is based on a Centralized Motion Algorithm (CMA), that exploits the geometric relationship of ...
Victor Nevarez, Ron Lumia
openaire   +1 more source

Scalable Extrinsic Calibration of Omni-Directional Image Networks

International Journal of Computer Vision, 2002
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Matthew E. Antone, Seth J. Teller
openaire   +2 more sources

Automatic extrinsic calibration for an onboard camera

2013 Chinese Automation Congress, 2013
This paper presents an automatic extrinsic calibration method for an onboard camera in general drive condition, with some straight line and turning movements. Our method only needs the camera video and the synchronous vehicle poses, which can be estimated from Inertial Measurement Unit (IMU) data or four-wheel speeds of the vehicle.
Jun Tan, Xiangjing An, Xin Xu, Hangen He
openaire   +1 more source

Extrinsic Camera Calibration Using Multiple Reflections

2010
This paper presents a method for determining the six-degree-of-freedom (DOF) transformation between a camera and a base frame of interest, while concurrently estimating the 3D base-frame coordinates of unknown point features in the scene. The camera observes the reflections of fiducial points, whose base-frame coordinates are known, and reconstruction ...
Joel A. Hesch, Anastasios I. Mourikis, Stergios I. Roumeliotis   +2 more
openaire   +1 more source