Extrinsic Calibration of Camera and 2D Laser Sensors without Overlap

Sensors

Khalil M. Ahmad Yousef¹  Bassam J. Mohd¹  Thaier   Hayajneh²  Khalid Al-Widyan³ 

[1] Department of Computer Engineering, the Hashemite University, Zarqa 13115, Jordan;Department of Computer and Information Sciences, Fordham University, New York, NY 10023, USA;Department of Mechatronics Engineering, the Hashemite University, Zarqa 13115, Jordan;

关键词: calibration;    range sensing;    mobile robot;    mapping;    2D lidar sensor;   

DOI  :  10.3390/s17102346

来源: DOAJ

【 摘 要 】

Extrinsic calibration of a camera and a 2D laser range finder (lidar) sensors is crucial in sensor data fusion applications; for example SLAM algorithms used in mobile robot platforms. The fundamental challenge of extrinsic calibration is when the camera-lidar sensors do not overlap or share the same field of view. In this paper we propose a novel and flexible approach for the extrinsic calibration of a camera-lidar system without overlap, which can be used for robotic platform self-calibration. The approach is based on the robot–world hand–eye calibration (RWHE) problem; proven to have efficient and accurate solutions. First, the system was mapped to the RWHE calibration problem modeled as the linear relationship AX = ZB, whereXandZare unknown calibration matrices. Then, we computed the transformation matrixB , which was the main challenge in the above mapping. The computation is based on reasonable assumptions about geometric structure in the calibration environment. The reliability and accuracy of the proposed approach is compared to a state-of-the-art method in extrinsic 2D lidar to camera calibration. Experimental results from real datasets indicate that the proposed approach provides better results with an L2 norm translational and rotational deviations of 314 mm and0 . 12∘ respectively.

【 授权许可】

Unknown