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Carnegie Mellon Robotics Institute

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Abstract

We propose an automated method to recover the full calibration parameters between a 3D range sensor and a monocular camera system. Our method is not only accurate and fully automated, but also relies on a simple calibration target consisting of a single circle. This allows the algorithm to be suitable for applications requiring in-situ calibration. We demonstrate the effectiveness of the algorithm on a camera-lidar system and show results on 3D mapping tasks.

Keywords

lidar-camera calibration, calibration, colorized point clouds

Notes

Sponsor: U.S. Government

Associated Center(s) / Consortia: National Robotics Engineering Center

Text Reference

Hatem Said Alismail, L. Douglas Baker, and Brett Browning, "Automatic Calibration of a Range Sensor and Camera System," 2012 Second Joint 3DIM/3DPVT Conference: 3D Imaging, Modeling, Processing, Visualization & Transmission (3DIMPVT 2012), October, 2012.

BibTeX Reference

@inproceedings{Alismail_2012_7277,
   author = "Hatem Said Alismail and L. Douglas Baker and Brett Browning",
   title = "Automatic Calibration of a Range Sensor and Camera System",
   booktitle = "2012 Second Joint 3DIM/3DPVT Conference: 3D Imaging, Modeling, Processing, Visualization & Transmission (3DIMPVT 2012)",
   publisher = "IEEE Computer Society",
   month = "October",
   year = "2012",
}

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