A method for the calibration of a 3-D laser scanner

Niola, Vincenzo; Rossi, Cesare; Savino, Sergio; Strano, Salvatore

doi:10.1016/j.rcim.2010.06.030

Cited by 48 publications

(25 citation statements)

References 7 publications

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“…In the proposed system, fusion of 3D points and color images is a challenge because an accurate extrinsic calibration of the transformation between the two sensors is required. Several methods for calibrating a single-layer Lidar with respect to a camera have been proposed [9][10][11][12][13][14][15][16]. In this paper, the method proposed in Fig.…”

Section: Dbscan Clustering and The Proposed Algorithmmentioning

confidence: 99%

Pedestrian Detection by Fusing 3D Points and Color Images

Lin

2016

IJNDC

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In this paper, a fusing approach of a 3D sensor and a camera are used to improve the reliability of pedestrian detection. The proposed pedestrian detecting system adopts DBSCAN to cluster 3D points and projects the candidate clusters onto images as region of interest (ROI). Those ROIs are detected by HOG (histograms of oriented gradients) pedestrian detector. Because the DBSCAN groups together 3D points and rejects outlier points correctly, the proposed system has a low false detection rate. The performance is also improved since the proposed system only detects the ROI instead of the whole color image.

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Section: Dbscan Clustering and The Proposed Algorithmmentioning

confidence: 99%

Pedestrian Detection by Fusing 3D Points and Color Images

Lin

2016

IJNDC

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“…The calibration procedure of robot-laser scanner system essentially consists in determining the relative positions between the laser module and camera and between camera and robot. The relationship between laser module and camera is achieved through a procedure implemented by maintaining the position of the robot fixed in front of a moving target ( Figure 2) [17]. One set of images is acquired for different positions of the target.…”

Section: Calibrationmentioning

confidence: 99%

A Robotic System to Scan and Reproduce Object

Rossi¹,

Savino²

2011

Journal of Robotics

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An application of a robotic system integrated with a vision system is presented. The robot is a 3-axis revolute prototype, while the vision system essentially consists in a laser scanner made up of a camera and a linear laser projector. Both the robotic and the video system were designed and built at DIME (Department of Mechanical Engineering for Energetics), University of Naples Federico II. The presented application essentially consists of a laser scanner that is installed on the robot arm; the scanner scans a 3D surface, and the data are converted in a cloud of points in the robot’s workspace. Then, starting from those points, the end-effector trajectories adopted to replicate the scanned surface are calculated; so, the same robot, by using a tool, can reproduce the scanned object. The software was developed also at the DIME. The adopted tool was a high-speed drill, installed on the last link of the robot arm, with a spherical milling cutter in order to obtain enough accurate surfaces by the data represented by the cloud of points. An algorithm to interpolate the paths and to plan the trajectories was also developed and successfully tested.

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“…The rotations and translations of the robot arm are considered in the scanning model. Niola 17 describes a calibration for the laser scanner in robotic applications. A target with the known movement is employed to model the geometry of the laser emitter and camera.…”

Section: Introductionmentioning

confidence: 99%

Optimization reconstruction method of object profile using flexible laser plane and bi-planar references

Yuan

et al. 2018

Sci Rep

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An optimization method to reconstruct the object profile is performed by using a flexible laser plane and bi-planar references. The bi-planar references are considered as flexible benchmarks to realize the transforms among two world coordinate systems on the bi-planar references, the camera coordinate system and the image coordinate system. The laser plane is confirmed by the intersection points between the bi-planar references and laser plane. The 3D camera coordinates of the intersection points between the laser plane and a measured object are initially reconstructed by the image coordinates of the intersection points, the intrinsic parameter matrix and the laser plane. Meanwhile, an optimization function is designed by the parameterized differences of the reconstruction distances with the help of a target with eight markers, and the parameterized reprojection errors of feature points on the bi-planar references. The reconstruction method with the bi-planar references is evaluated by the difference comparisons between true distances and standard distances. The mean of the reconstruction errors of the initial method is 1.01 mm. Moreover, the mean of the reconstruction errors of the optimization method is 0.93 mm. Therefore, the optimization method with the bi-planar references has great application prospects in the profile reconstruction.

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A method for the calibration of a 3-D laser scanner

Cited by 48 publications

References 7 publications

Pedestrian Detection by Fusing 3D Points and Color Images

Pedestrian Detection by Fusing 3D Points and Color Images

A Robotic System to Scan and Reproduce Object

Optimization reconstruction method of object profile using flexible laser plane and bi-planar references

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