Calibration method for integrated camera and laser scanner system based on bi-view feature matching

Abstract

Aiming at the problems of time-consuming and low precision existing in traditional checkerboard-based calibration method, a bi-view feature matching-based calibration method for a joint laser/camera system is proposed.This method uses an ordinary object in natural scene as the calibration pattern.The 3D laser scanner and camera are used to acquire the laser point cloud and image data of the calibration pattern from two different viewpoints respectively.The iterative closest point(ICP) algorithm is used to register the laser feature points and obtain the pose transform relation between the two viewpoints.The feature points of the 2D image obtained from the first viewpoint are transformed into 3D camera coordinate system through the stereo triangulation.The corresponding 3D feature point sets of laser and camera from the same viewpoint are matched, and the ultimate extrinsic calibration parameters between laser and camera coordinate systems are obtained.Experimental results indicate that the proposed method can effectively improve the calibration precision and shorten the calibration time.