Extrinsic Parameter Calibration for Line Scanning Cameras on Ground Vehicles with Navigation Systems Using a Calibration Pattern
The Australian Centre for Field Robotics (ACFR), Department of Aerospace, Mechanical and Mechatronic Engineering (AMME), The University of Sydney, Sydney, NSW 2006, Australia
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Sensors 2017, 17(11), 2491; https://doi.org/10.3390/s17112491
Received: 1 September 2017
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Revised: 19 October 2017
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Accepted: 25 October 2017
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Published: 30 October 2017
(This article belongs to the Section Physical Sensors)
Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world coordinates, an accurate estimate of the camera’s 6D pose is required. This paper focuses on the common case where a mobile platform is equipped with a rigidly mounted line scanning camera, whose pose is unknown, and a navigation system providing vehicle body pose estimates. We propose a novel method that estimates the camera’s pose relative to the navigation system. The approach involves imaging and manually labelling a calibration pattern with distinctly identifiable points, triangulating these points from camera and navigation system data and reprojecting them in order to compute a likelihood, which is maximised to estimate the 6D camera pose. Additionally, a Markov Chain Monte Carlo (MCMC) algorithm is used to estimate the uncertainty of the offset. Tested on two different platforms, the method was able to estimate the pose to within 0.06 m/1.05 and 0.18 m/2.39 . We also propose several approaches to displaying and interpreting the 6D results in a human readable way.
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Keywords:
line scan cameras; extrinsic calibration; camera pose; navigation system; GPS; ground vehicles; georeferencing
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MDPI and ACS Style
Wendel, A.; Underwood, J. Extrinsic Parameter Calibration for Line Scanning Cameras on Ground Vehicles with Navigation Systems Using a Calibration Pattern. Sensors 2017, 17, 2491. https://doi.org/10.3390/s17112491
AMA Style
Wendel A, Underwood J. Extrinsic Parameter Calibration for Line Scanning Cameras on Ground Vehicles with Navigation Systems Using a Calibration Pattern. Sensors. 2017; 17(11):2491. https://doi.org/10.3390/s17112491
Chicago/Turabian StyleWendel, Alexander, and James Underwood. 2017. "Extrinsic Parameter Calibration for Line Scanning Cameras on Ground Vehicles with Navigation Systems Using a Calibration Pattern" Sensors 17, no. 11: 2491. https://doi.org/10.3390/s17112491
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