NDLI: Extracting extrinsic parameters of a laser scanner and a camera using EM

Content Provider	IEEE Xplore Digital Library
Author	Jae-Han Park Yong-Deuk Shin Kyung-Wook Park Seung-Ho Baeg Moon-Hong Baeg
Copyright Year	2009
Description	Author affiliation: Division of Applied Robot Technology, Korea Institute of Industrial Technology, Seoul, Korea (Jae-Han Park)
Abstract	The robot's ability of perceiving their environments is primary functionality for a number of applications such as the rescue, navigation and manipulation. In these applications, the 3D colored map image is very useful information because it provides not only scene data but spatial data. For acquiring reliable 3D colored maps from the camera and the 3D laser scan system, one of the fundamental issues is the extrinsic calibration that calculates the rigid transformation (i.e., rotation and translation) between camera and laser coordinate system. In this paper we propose a novel method of getting extrinsic parameters which is insensitive to the noise of laser scanner measurements. Our approach introduces Expectation-Maximization(EM) algorithm to robust estimation of the relations between the camera and the laser scanner coordinate system in noisy environments. Simulations at various conditions with adding the laser measurement noise are performed to verify the effectiveness of our approach, and they show improved performances in estimating the extrinsic calibration parameters.
Starting Page	5269
Ending Page	5272
File Size	1634132
Page Count	4
File Format	PDF
ISBN	9784907764340
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-18
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Cameras Laser noise Working environment noise Calibration Noise measurement Performance evaluation Data mining Robot vision systems Robot kinematics Navigation EM Extrinsic calibration
Content Type	Text
Resource Type	Article

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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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