Extrinsic Calibration of Camera and 2D Laser Sensors without Overlap
AbstractExtrinsic calibration of a camera and a 2D laser range finder (lidar) sensors is crucial in sensor data fusion applications; for example SLAM algorithms used in mobile robot platforms. The fundamental challenge of extrinsic calibration is when the camera-lidar sensors do not overlap or share the same field of view. In this paper we propose a novel and flexible approach for the extrinsic calibration of a camera-lidar system without overlap, which can be used for robotic platform self-calibration. The approach is based on the robot–world hand–eye calibration (RWHE) problem; proven to have efficient and accurate solutions. First, the system was mapped to the RWHE calibration problem modeled as the linear relationship
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Ahmad Yousef, K.M.; Mohd, B.J.; Al-Widyan, K.; Hayajneh, T. Extrinsic Calibration of Camera and 2D Laser Sensors without Overlap. Sensors 2017, 17, 2346.
Ahmad Yousef KM, Mohd BJ, Al-Widyan K, Hayajneh T. Extrinsic Calibration of Camera and 2D Laser Sensors without Overlap. Sensors. 2017; 17(10):2346.Chicago/Turabian Style
Ahmad Yousef, Khalil M.; Mohd, Bassam J.; Al-Widyan, Khalid; Hayajneh, Thaier . 2017. "Extrinsic Calibration of Camera and 2D Laser Sensors without Overlap." Sensors 17, no. 10: 2346.
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