NDLI: Online Active Calibration for a Multi-LRF System

Content Provider	IEEE Xplore Digital Library
Author	Guoyang Xie Tao Xu Isert, C. Aeberhard, M. Shaohua Li Ming Liu
Copyright Year	2015
Abstract	Multi-LRF(Laser Range Finder) systems have been broadly utilized in sensor fusion for automobile. In order to convert multiple LRF data into a unified coordinate system, we have to obtain the rigid transformation among multi-LRF. In this paper, we propose a new algorithm for online extrinsic calibration of multi-LRFs by observing a planar checkerboard pattern and solving for transformation between the views of a planar checkerboard from a camera and multi-LRF. Existing LRF calibration is achieved by freely moving a checkerboard pattern and conducting much offline optimization. Compared with traditional algorithm, the advantages of our approach are twofold. Firstly, adopting the noise of images and LRF depth readings, we can exactly calculate the exact position and pose of the checkerboard that can largely reduce the transformation error. Secondly, the complete calibration process is online, which means the exact position and pose of the checkerboard can be obtained in real-time and manipulated by robotic arm. In the end, our calibration approach is validated through real experiments that show the superiority with respect to the state-of-art methods.
Starting Page	806
Ending Page	811
File Size	467275
Page Count	6
File Format	PDF
ISSN	21530017
e-ISBN	9781467365963
DOI	10.1109/ITSC.2015.136
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-15
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Calibration Noise Monte Carlo methods Optimization Bismuth Noise measurement
Content Type	Text
Resource Type	Article

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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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