A Weighted Extrinsic Calibration of a Camera and a LRF

Shiheng Deng,Zhigang Sun,Kai Zhang,Li Xiao

2021 4th International Conference on Intelligent Autonomous Systems (ICoIAS)（2021）

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摘要

Robots are often equipped with cameras and Laser Rangefinders (LRFs), and it is important to obtain their relative pose since they are separated. In this paper, an algorithm for calibrating the extrinsic parameters between a camera and a 2D LRF is proposed, and a system consisting of 2D LRF and a rotating unit is designed to obtain a 3D scanning map of the surroundings. Since the LRF beam is invis...

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关键词

Three-dimensional displays,Uncertainty,Robot vision systems,Lasers,Cameras,Robustness,Calibration

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