Open-Box Target for Extrinsic Calibration of LiDAR, Camera and Industrial Robot

摘要

Low cost 3D LiDAR complements cameras in perception algorithms for various robotic applications. Safe and efficient human robot collaboration requires easy and accurate extrinsic calibration of sensors with an industrial robot. This work presents an efficient and accurate method for extrinsic calibration between LiDAR, camera and an industrial robot. Open-box target mounted on robot enables parameter estimation by constraining sensor data to multiple planes, which constitute the target planner surface. The method enables extraction of eight correspondences between the sensors and the robot in each data sample. The method enables speedup in sensor setup and drastically reduces efforts required for data collection through automation. The results have been evaluated for a simulated and real environment.