1D range finder to camera calibration
1D RangeFinder - Camera calibration
Extrinsic calibration for single point rangefinder (LiDAR altimeter) and monocular vision systems.
- The laser beam is supposed to be not visibile in the camera images (tested with 900 nm laser and camera with infrared filter).
- The laser is supposed to hit a planar target with a checkerboard pattern attached. See examples.
- Required are N>5 pairs of images and range values.
- It is returned the oriented segment (of unit length) that represent the center of the range finder+ direction w.r.t the camera optical frame.
Usage
Just run the main.m
script in the matlab/
folder.
There are multiple ways to try the code out:
- use the test images and range scans provided in the folders
images/
andscans/
(camera parameters are cached in a .mat file, which can be loaded by setting the variable in line 16) - uncomment lines 34-40 in
main.m
to generate a randomized synthetic dataset
References
If you find this code useful for your projects/research, please cite the corresponding papers:
- Giubilato, R. et al. "MiniVO: Minimalistic Range Enhanced Monocular System for Scale Correct Pose Estimation", IEEE Sensors Journal, 2020
- Giubilato, R. et al. "Scale Correct Monocular Visual Odometry Using a LiDAR Altimeter", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
@ARTICLE{giubilato2020minivo,
author={R. {Giubilato} and S. {Chiodini} and M. {Pertile} and S. {Debei}},
journal={IEEE Sensors Journal},
title={MiniVO: Minimalistic Range Enhanced Monocular System for Scale Correct Pose Estimation},
year={2020},
doi={10.1109/JSEN.2020.2978334},
ISSN={2379-9153},
}
@INPROCEEDINGS{giubilato2018scale,
author={R. {Giubilato} and S. {Chiodini} and M. {Pertile} and S. {Debei}},
booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Scale Correct Monocular Visual Odometry Using a LiDAR Altimeter},
year={2018},
pages={3694-3700},
doi={10.1109/IROS.2018.8594096},
ISSN={2153-0858},
month={Oct},
}
Compatibility
Tested with Matlab 2018b. Earlier versions might be incompatible with plot/legend functions.
Zitieren als
Giubilato, Riccardo, et al. “Scale Correct Monocular Visual Odometry Using a LiDAR Altimeter.” 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2018, doi:10.1109/iros.2018.8594096.
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Version | Veröffentlicht | Versionshinweise | |
---|---|---|---|
1.0.1 | See release notes for this release on GitHub: https://github.com/RiccardoGiubilato/1d-lidar-cam-calib/releases/tag/v1.0.1 |
||
1.0.0 |