1D range finder to camera calibration

Extrinsic calibration (5DoF) for a 1D range finder and a monocular camera
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Aktualisiert 8. Jan 2022

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/ and scans/ (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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Kompatibilität der MATLAB-Version
Erstellt mit R2018b
Kompatibel mit allen Versionen
Plattform-Kompatibilität
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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

Um Probleme in diesem GitHub Add-On anzuzeigen oder zu melden, besuchen Sie das GitHub Repository.
Um Probleme in diesem GitHub Add-On anzuzeigen oder zu melden, besuchen Sie das GitHub Repository.