Abstract— This paper addresses the problem of automatically estimating the relative pose between a push-broom LIDAR and a camera without the need for artificial calibration targets or other human intervention. Further we do not require the sensors to have an overlapping field of view, it is enough that they observe the same scene but at different times from a moving platform. Matching between sensor modalities is achieved without feature extraction. We present results from field trials which suggest that this new approach achieves an extrinsic calibration accuracy of millimetres in translation and deci-degrees in rotation.

jazzhands_lidar

  • [PDF] A. Napier, P. Corke, and P. Newman, “Cross-Calibration of Push-Broom 2D LIDARs and Cameras In Natural Scenes,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.
    [Bibtex]

    @inproceedings{NapierICRA2013,
    Address = {Karlsruhe, Germany},
    Author = {Ashley Napier and Peter Corke and Paul Newman},
    Booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
    Keywords = {Fusing Vision and Laser},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2013ICRA_an.pdf},
    Title = {Cross-Calibration of Push-Broom 2D LIDARs and Cameras In Natural Scenes},
    Year = {2013}}