Extrinsic calibration of Velodyne-VLP16 LiDAR and camera using only three 3D-2D correspondences

2021 ◽  
Author(s):  
Fei Liu ◽  
Shaokun Han ◽  
Xuefei Bai ◽  
Zhengchao Lai ◽  
Jun Li ◽  
...  
Keyword(s):  
Extrinsic Calibration

scholarly journals Extrinsic Camera Calibration with Line-Laser Projection

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1091
Author(s):  
Izaak Van Crombrugge ◽  
Rudi Penne ◽  
Steve Vanlanduit
Keyword(s):  
Camera Calibration ◽  
Real World ◽  
Large Scale ◽  
State Of The Art ◽  
Bundle Adjustment ◽  
Field Of View ◽  
Extrinsic Calibration ◽  
Practical Procedure ◽  
Partial Overlap

Knowledge of precise camera poses is vital for multi-camera setups. Camera intrinsics can be obtained for each camera separately in lab conditions. For fixed multi-camera setups, the extrinsic calibration can only be done in situ. Usually, some markers are used, like checkerboards, requiring some level of overlap between cameras. In this work, we propose a method for cases with little or no overlap. Laser lines are projected on a plane (e.g., floor or wall) using a laser line projector. The pose of the plane and cameras is then optimized using bundle adjustment to match the lines seen by the cameras. To find the extrinsic calibration, only a partial overlap between the laser lines and the field of view of the cameras is needed. Real-world experiments were conducted both with and without overlapping fields of view, resulting in rotation errors below 0.5°. We show that the accuracy is comparable to other state-of-the-art methods while offering a more practical procedure. The method can also be used in large-scale applications and can be fully automated.

Extrinsic Calibration of Camera and Motion Capture Systems

2021 ◽  
Author(s):  
Prashant Ganesh ◽  
Kyle Volle ◽  
Paul Buzaud ◽  
Kevin Brink ◽  
Andrew Willis
Keyword(s):  
Motion Capture ◽  
Extrinsic Calibration ◽  
Motion Capture Systems

Automatic extrinsic calibration for an onboard camera

2013 ◽  
Author(s):  
Jun Tan ◽  
Xiangjing An ◽  
Xin Xu ◽  
Hangen He
Keyword(s):  
Extrinsic Calibration

Extrinsic Calibration of a Small FoV LiDAR and a Camera

2020 ◽  
Author(s):  
Yang Zhao ◽  
Kaihong Huang ◽  
Huimin Lu ◽  
Junhao Xiao
Keyword(s):  
Extrinsic Calibration

Extrinsic Calibration of Portable Manipulators

1992 ◽  
Author(s):  
Steven B. Shooter ◽  
Charles F. Reinholtz
Keyword(s):  
Closed Form ◽  
Nuclear Reactors ◽  
Video Feedback ◽  
Sufficient Information ◽  
Steam Generators ◽  
Extrinsic Calibration ◽  
Tool Positioning ◽  
Orthogonal Plane ◽  
Position And Orientation ◽  
Operator Control

Abstract Portable manipulators are installed for operation and then removed upon completion of their task. Typical applications of portable manipulators include the inspection of nuclear reactors, inspection and repair of nuclear steam generators and asbestos removal in buildings. In such operations, it is difficult to precisely position the manipulator at a fixed location within its workplace, yet this is critical for accurate tool positioning. It can be possible, however, to position the tool tip at several points in the environment using video feedback and manual operator control of the manipulator. This provides sufficient information to determine the position and orientation of the manipulator base frame with respect to the environment, hereafter referred to as extrinsic calibration. Following extrinsic calibration, subsequent moves of the manipulator can be automated. This paper describes a closed-form method for performing extrinsic calibration by contacting the tool to a total of six places on three orthogonal plane surfaces of reference.

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