Calibration of multiple cameras to a 3D laser range finder

摘要

Robots, especially autonomous systems, need a precise perception of the environment for path planning and manipulation tasks. Different sensors provide various data for this task. Camera to 3D laser range finder calibration allows algorithms to work efficiently on depth measurements, color and texture features and benefit from the signals of both sensor types at once in real-time. In this paper we describe our extensions to an existing calibration approach from Unnikrishnan and Herbert. The calibration is analyzed from a robotic perspective with focus on improving required time, practicality and simplification of the calibration. Field of application ranges from robotics and agricultural engines to industrial applications. The feasibility of the approach is discussed and resulting data fusion is presented.