Abstract:
This work presents a novel approach to spatio-temporal calibration of a laser range finder (LRF) with respect to a combination of a stereo camera and an inertial measurem...Show MoreMetadata
Abstract:
This work presents a novel approach to spatio-temporal calibration of a laser range finder (LRF) with respect to a combination of a stereo camera and an inertial measurement unit (IMU). Spatial calibration between an LRF and a camera has been extensively studied, but so far the temporal relationship between the two has largely been neglected. While this may be sufficient for applications where the setup is mounted on a vehicle, which imposes bounds on the dynamics, we aim for employment on a hand-held scanning device, where angular velocities can easily exceed hundreds of degrees per second. Employing a continuous-time batch estimation framework, this work demonstrates that the transformation between the LRF and the visual/inertial setup-but also its temporal relationship-can be estimated accurately. In contrast to the majority of established calibration approaches, our approach does not require an overlap in the field of view of the LRF and camera, allowing for previously infeasible sensor configurations to be calibrated. Preliminary results for a novel hand-held scanning device suggest improvements in 3D reconstructions and image based point cloud coloring, especially for highly dynamic motions.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
ISBN Information: