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Type: Conference paper
Title: A branch-and-bound algorithm for checkerboard extraction in camera-laser calibration
Author: Khosravian, A.
Chin, T.
Reid, I.
Citation: IEEE International Conference on Robotics and Automation, 2017, pp.6495-6502
Publisher: IEEE
Issue Date: 2017
ISBN: 9781509046331
ISSN: 1050-4729
Conference Name: IEEE International Conference on Robotics and Automation (ICRA 2017) (29 May 2017 - 3 Jun 2017 : Singapore)
Statement of
Alireza Khosravian, Tat-Jun Chin, Ian Reid
Abstract: We address the problem of camera-to-laserscanner calibration using a checkerboard and multiple imagelaser scan pairs. Distinguishing which laser points measure the checkerboard and which lie on the background is essential to any such system. We formulate the checkerboard extraction as a combinatorial optimization problem with a clear cut objective function. We propose a branch-and-bound technique that deterministically and globally optimizes the objective. Unlike what is available in the literature, the proposed method is not heuristic and does not require assumptions such as constraints on the background or relying on discontinuity of the range measurements to partition the data into line segments. The proposed approach is generic and can be applied to both 3D or 2D laser scanners as well as the cases where multiple checkerboards are present. We demonstrate the effectiveness of the proposed approach by providing numerical simulations as well as experimental results.
Keywords: Lasers; cameras; calibration, measurement by laser beam
Rights: © 2017 IEEE
DOI: 10.1109/ICRA.2017.7989767
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