Please use this identifier to cite or link to this item: http://hdl.handle.net/2440/112401
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dc.contributor.authorKhosravian, A.en
dc.contributor.authorChin, T.en
dc.contributor.authorReid, I.en
dc.date.issued2017en
dc.identifier.citationProceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017 / pp.6495-6502en
dc.identifier.isbn9781509046331en
dc.identifier.issn1050-4729en
dc.identifier.urihttp://hdl.handle.net/2440/112401-
dc.description.abstractWe 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.en
dc.description.statementofresponsibilityAlireza Khosravian, Tat-Jun Chin, Ian Reiden
dc.language.isoenen
dc.publisherIEEEen
dc.rights© 2017 IEEEen
dc.source.urihttp://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=7960754en
dc.subjectLasers; cameras; calibration, measurement by laser beamen
dc.titleA branch-and-bound algorithm for checkerboard extraction in camera-laser calibrationen
dc.typeConference paperen
dc.identifier.rmid0030074879en
dc.contributor.conferenceIEEE International Conference on Robotics and Automation (ICRA 2017) (29 May 2017 - 03 Jun 2017 : Singapore)en
dc.identifier.doi10.1109/ICRA.2017.7989767en
dc.relation.granthttp://purl.org/au-research/grants/arc/LP140100946en
dc.relation.granthttp://purl.org/au-research/grants/arc/CE140100016en
dc.relation.granthttp://purl.org/au-research/grants/arc/FL130100102en
dc.identifier.pubid347087-
pubs.library.collectionComputer Science publicationsen
pubs.library.teamDS06en
pubs.verification-statusVerifieden
pubs.publication-statusPublisheden
dc.identifier.orcidReid, I. [0000-0001-7790-6423]en
Appears in Collections:Computer Science publications

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