Extrinsic calibration of a single line scanning lidar and a camera

@article{Kwak2011ExtrinsicCO,
  title={Extrinsic calibration of a single line scanning lidar and a camera},
  author={Kiho Kwak and Daniel F. Huber and Hern{\'a}n Badino and Takeo Kanade},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={3283-3289}
}
Lidar and visual imagery have been broadly utilized in computer vision and mobile robotics applications because these sensors provide complementary information. However, in order to convert data between the local coordinate systems, we must estimate the rigid body transformation between the sensors. In this paper, we propose a robust-weighted extrinsic calibration algorithm that is implemented easily and has small calibration error. The extrinsic calibration parameters are estimated by… CONTINUE READING

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Key Quantitative Results

  • In the experiments, we show our extrinsic calibration algorithm has calibration accuracy over 50% better than an existing state of the art approach.

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