TY  - CONF
ID  - gomez2015calib
T1  - Extrinsic Calibration of a 2D Laser-Rangefinder and a Camera based on Scene Corners
A1  - Gomez-Ojeda, Ruben
A1  - Briales, Jesus
A1  - Fernández-Moral, Eduardo
A1  - Gonzalez-Jimenez, Javier
TI  - IEEE International Conference on Robotics and Automation (ICRA)
Y1  - 2015
SP  - 3611
EP  - 3616
T2  - IEEE
CY  - Seattle, USA
M2  - doi: 10.1109/ICRA.2015.7139700
N2  - Robots are often equipped with 2D laser-
rangefinders (LRFs) and cameras since they complement well
to each other. In order to correctly combine measurements from
both sensors, it is required to know their relative pose, that is, to
solve their extrinsic calibration. In this paper we present a new
approach to such problem which relies on the observations of
an orthogonal trihedron which is profusely found as corners in
human-made scenarios. Thus, the method does not require any
specific pattern, which turns the calibration process fast and
simpler to perform. The estimated relative pose has proven
to be also very precise since it uses two different types of
constraints, line-to-plane and point-to-plane, as a result of a
richer configuration than previous proposals that relies on plane
or V-shaped patterns. Our approach is validated with synthetic
and real experiments, showing better performance than the
state-of-art methods.
M1  - http://mapir.isa.uma.es/rgomez/publications/icra15extrinsic.png
ER  -