Automatic alignment of a camera with a line scan LIDAR system
- 1 May 2011
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 10504729,p. 3429-3434
- https://doi.org/10.1109/icra.2011.5980513
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 problem. 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.Keywords
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