Automated camera calibration from laser scanning data in natural environments

Kód výsledku v 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>

Výsledek na webu

<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

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Jazyk výsledku

angličtina

Název v původním jazyce

Automated camera calibration from laser scanning data in natural environments

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Automated camera calibration from laser scanning data in natural environments

Popis výsledku anglicky

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.

Druh

V_souhrn - Souhrnná výzkumná zpráva

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

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Návaznosti

R - Projekt Ramcoveho programu EK

Rok uplatnění

2014

Kód důvěrnosti údajů

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

Počet stran výsledku

50

Místo vydání

Praha

Název nakladatele resp. objednatele

Center for Machine Perception, K13133 FEE, Czech Technical University

Verze

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