NDLI: Spatio-temporal laser to visual/inertial calibration with applications to hand-held, large scale scanning

Content Provider	IEEE Xplore Digital Library
Author	Rehder, J. Beardsley, P. Siegwart, R. Furgale, P.
Copyright Year	2014
Description	Author affiliation: Autonomous Syst. Lab. (ASL), ETH Zurich, Zurich, Switzerland (Rehder, J.; Siegwart, R.; Furgale, P.) \|\| Disney Res. Zurich, Zurich, Switzerland (Beardsley, P.)
Abstract	This work presents a novel approach to spatio-temporal calibration of a laser range finder (LRF) with respect to a combination of a stereo camera and an inertial measurement unit (IMU). Spatial calibration between an LRF and a camera has been extensively studied, but so far the temporal relationship between the two has largely been neglected. While this may be sufficient for applications where the setup is mounted on a vehicle, which imposes bounds on the dynamics, we aim for employment on a hand-held scanning device, where angular velocities can easily exceed hundreds of degrees per second. Employing a continuous-time batch estimation framework, this work demonstrates that the transformation between the LRF and the visual/inertial setup-but also its temporal relationship-can be estimated accurately. In contrast to the majority of established calibration approaches, our approach does not require an overlap in the field of view of the LRF and camera, allowing for previously infeasible sensor configurations to be calibrated. Preliminary results for a novel hand-held scanning device suggest improvements in 3D reconstructions and image based point cloud coloring, especially for highly dynamic motions.
Starting Page	459
Ending Page	465
File Size	1320352
Page Count	7
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942599
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Measurement by laser beam Calibration Three-dimensional displays Cameras Laser modes Visualization Estimation
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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