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Automated camera calibration from laser scanning data in natural environments

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00218830" target="_blank" >RIV/68407700:21230/14:00218830 - isvavai.cz</a>

  • Result on the web

    <a href="https://cyber.felk.cvut.cz/research/theses/papers/494.pdf" target="_blank" >https://cyber.felk.cvut.cz/research/theses/papers/494.pdf</a>

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    Automated camera calibration from laser scanning data in natural environments

  • Original language description

    We have developed an application for extrinsic camera calibration from the data acquired by the LIDAR scanner. Since the raw range images from the LIDAR scanner do not possess enough detail, we processed the range images to highlight edges and corners and allow the operator to create correspondences between the world points and the image points. We have also developed a technique for local correction of the correspondences in case the operator makes a slight mistake. The application is implemented as anode in Robot Operating System (ROS). We have performed experiments on a mobile robot intended for urban search and rescue. We experimentally show that the application can be used outside the laboratory to quickly calibrate a new camera in the system orrecalibrate an already present camera. That is a big advantage compared to the present tools available in ROS that usually require the use of special calibration patterns and are restricted to the laboratory environment only.

  • Czech name

  • Czech description

Classification

  • Type

    V<sub>souhrn</sub> - Summary research report

  • CEP classification

    JD - Use of computers, robotics and its application

  • OECD FORD branch

Result continuities

  • Project

  • Continuities

    R - Projekt Ramcoveho programu EK

Others

  • Publication year

    2014

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Number of pages

    50

  • Place of publication

    Praha

  • Publisher/client name

    Center for Machine Perception, K13133 FEE, Czech Technical University

  • Version