An automatic calibration between an omni-directional camera and a laser rangefinder for dynamic scenes reconstruction - Details

author：

Zou, Cheng (Zou, Cheng.) ^[1] | He, Bingwei (He, Bingwei.) ^[2] (Scholars：何炳蔚) | Zhang, Liwei (Zhang, Liwei.) ^[3] (Scholars：张立伟) | Zhang, Jianwei (Zhang, Jianwei.) ^[4] | Deng, Zhen (Deng, Zhen.) ^[5]

Indexed by：

EI Scopus

Abstract：

An　automatic　approach　for　the　calibration　of　an　omni-directional　camera　with　a　laser　rangefinder(LRF)　on　a　mobile　robot　is　presented.　We　improve　the　current　calibration　approach　to　make　it　adjust　to　the　omni-directional　camera　with　LRF.　Then　we　focus　on　building　the　static-map　for　the　dynamic　scene　using　a　mobile　robot　equipped　our　camera-LRF　system.　In　this　work,　we　propose　a　novel　approach　for　updating　3D　color　map　with　a　Guassian　mixture　model.　Dynamic　obstacles　are　detected　combined　with　3D　and　color　feature　using　this　model.　In　the　experiment,　on　one　hand,　the　robustness　of　our　calibration　approach　is　tested　by　the　reconstruction　of　the　omni-directional　scenes　with　color　and　3D　feature.　On　the　other　hand,　our　map　model　for　dynamic　scenes　was　tested　on　our　system　and　KITTI　dataset,　the　result　shows　our　approach　can　reconstruct　static　map　and　remove　almost　dynamic　obstacles.　©　2016　IEEE.

Keyword：

Biomimetics Calibration Cameras Color Mobile robots Range finders Robotics

Community：

[ 1 ] [Zou, Cheng]School of Mechanical Engineering and Automation, Fuzhou University, Fujian, China
[ 2 ] [Zou, Cheng]TAMS, Department of Informatics, University of Hamburg, Germany
[ 3 ] [He, Bingwei]School of Mechanical Engineering and Automation, Fuzhou University, Fujian, China
[ 4 ] [He, Bingwei]TAMS, Department of Informatics, University of Hamburg, Germany
[ 5 ] [Zhang, Liwei]School of Mechanical Engineering and Automation, Fuzhou University, Fujian, China
[ 6 ] [Zhang, Liwei]TAMS, Department of Informatics, University of Hamburg, Germany
[ 7 ] [Zhang, Jianwei]TAMS, Department of Informatics, University of Hamburg, Germany
[ 8 ] [Deng, Zhen]TAMS, Department of Informatics, University of Hamburg, Germany