3D-2D laser range finder calibration using a conic based geometry shape

Authors:
Miguel Almeida;Paulo Dias;Miguel Oliveira;Vítor Santos
Affiliations:
Dept. of Electronics, Telecom. and Informatics, IEETA, University of Aveiro, Portugal;Dept. of Electronics, Telecom. and Informatics, IEETA, University of Aveiro, Portugal;Dept of Mechanical Engineering, University of Aveiro, Portugal;Dept of Mechanical Engineering, University of Aveiro, Portugal
Venue:
ICIAR'12 Proceedings of the 9th international conference on Image Analysis and Recognition - Volume Part I
Year:
2012

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Abstract

The AtlasCar is a prototype that is being developed at the University of Aveiro to research advanced driver assistance systems. The car is equipped with several sensors: 3D and 2D laser scanners, a stereo camera, inertial sensors and GPS. The combination of all these sensor data in useful representations is essential. Therefore, calibration is one of the first problems to tackle. This paper focuses on 3D/2D laser calibration. The proposed method uses a 3D Laser Range Finder (LRF) to produce a reference 3D point cloud containing a known calibration object. Manual input from the user and knowledge of the object geometry are used to register the 3D point cloud with the 2D Lasers. Experimental results with simulated and real data demonstrate the effectiveness of the proposed calibration method.