KIPS Transactions on Software and Data Engineering (정보처리학회논문지:소프트웨어 및 데이터공학)

Korea Information Processing Society (한국정보처리학회)
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An Accurate Extrinsic Calibration of Laser Range Finder and Vision Camera Using 3D Edges of Multiple Planes

다중 평면의 3차원 모서리를 이용한 레이저 거리센서 및 카메라의 정밀 보정

  • Received : 2015.01.14
  • Accepted : 2015.03.23
  • Published : 2015.04.30
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Abstract

For data fusion of laser range finder (LRF) and vision camera, accurate calibration of external parameters which describe relative pose between two sensors is necessary. This paper proposes a new calibration method which can acquires more accurate external parameters between a LRF and a vision camera compared to other existing methods. The main motivation of the proposed method is that any corner data of a known 3D structure which is acquired by the LRF should be projected on a straight line in the camera image. To satisfy such constraint, we propose a 3D geometric model and a numerical solution to minimize the energy function of the model. In addition, we describe the implementation steps of the data acquisition of LRF and camera images which are necessary in accurate calibration results. In the experiment results, it is shown that the performance of the proposed method are better in terms of accuracy compared to other conventional methods.

레이저 거리센서와 비전 카메라의 정보를 융합하기 위해서는 두 센서 사이의 상대적인 위치관계를 설명하는 외부 파라미터를 정확하게 보정하는 것이 필수적이다. 본 논문에서는 레이저 거리센서와 카메라 좌표계 간의 외부 파라미터를 기존에 알려진 방법보다 쉬우면서도 정확하게 획득할 수 있는 새로운 보정 방법을 제안하고자 한다. 본 논문에서 제안한 방법의 접근법은 레이저 거리센서로 획득한 3차원 구조물의 모서리 정보를 영상으로 투영하였을 때 반드시 하나의 직선상에 존재해야 한다는 것을 제약조건으로 한다. 이러한 제약조건을 만족하는 3차원 기하모델을 제시하고 이 모델의 에너지 함수를 최소화하기 위한 수치적 해법을 소개한다. 또한 높은 정밀도의 보정을 위하여 레이저 거리정보 및 카메라 영상의 획득 과정에 대해서도 상세히 설명한다. 실험을 통해 제안된 방법의 성능이 기존의 방법에 비하여 보다 높은 정밀도를 보임을 확인할 수 있었다.

Keywords

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