지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2014.10
- 수록면
- 647 - 651 (5page)
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초록· 키워드
오류제보하기
By increasing the requirement of reliable and accurate sensor information, the integration of multiple sensors has gained attention. Especially, the fusion of a LIDAR(Light Detection And Ranging) and a camera is one of the sensor combination broadly used because it provides the complementary and redundant information. Many existing calibration approaches consider the problem estimating the relative pose between each sensor pair such as a LIDAR and a camera. However, these approaches do not provide accurate solutions for multisensor configurations such as a LIDAR and cameras or LIDARs and cameras. In this paper, we propose a new extrinsic calibration algorithm using closed-loop constraints for multi-modal sensor configuration. The extrinsic calibration parameters are estimated by minimizing the distance between corresponding features projected onto the image plane. We conduct several experiments to evaluate the performance of our approach, such as comparison of the RMS distance of the ground truth and the projected points, and comparison between the independent sensor pair and our approach.
목차
Abstract
1. INTRODUCTION
2. PROBLEM DEFINITION
3. EXTRINSIC CALIBRATION BASED ON CLOSED-LOOP CONSTRAINTS
4. EXPERIMENTAL RESULTS
5. CONCLUSION
REFERENCES
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