ICRA 2011 Paper Abstract

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Paper WeA214.5

Naroditsky, Oleg (University of Pennsylvania), Patterson, Alexander IV (University of Pennsylvania), Daniilidis, Kostas (University of Pennsylvania)

Automatic Alignment of a Camera with a Line Scan LIDAR System

Scheduled for presentation during the Regular Sessions "Computer Vision for Robotics and Automation II" (WeA214), Wednesday, May 11, 2011, 11:05−11:20, Room 5J

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 10, 2019

Keywords Computer Vision for Robotics and Automation, Sensor Fusion, Calibration and Identification

Abstract

We propose a new method for extrinsic calibration of a line-scan LIDAR with a perspective projection camera. Our method is a closed-form, minimal solution to the prob- lem. The solution is a symbolic template found via variable elimination and the multi-polynomial Macaulay resultant. It does not require initialization, and can be used in an automatic calibration setting when paired with RANSAC and least-squares refinement. We show the efficacy of our approach through a set of simulations and a real calibration.

 

 

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