机器人2011，Vol.33Issue(1)：102-106,5.DOI:10.3724/SP.J.1218.2011.00102
一种摄像机和3维激光雷达外部参数最大似然估计的标定算法
A Calibration Algorithm for Maximum Likelihood Estimation of Extrinsic Parameters of a Camera and a 3D Laser Radar
摘要
Abstract
The maximum likelihood estimation method of extrinsic parameters of video camera and laser radar is proposed.When calculating the rotation matrix for the coordinate transformation of video camera and three-dimensional laser radar, the error of each initial value is taken into consideration, and corresponding weights are assigned to these initial values according to their respective variance, i.e.assigning minor weights to the initial values with major error and major weights to the initial values with minor error, thus to make the effects of various initial values' error on the calibration results consistent with each other.On this basis, the maximum likelihood estimation of rotation matrix will be more accurate.In addition, by establishing the error model, this paper reveals the error transfer principle in the calibration process, providing reference for the further research on the calibration problems.关键词
摄像机/3维激光雷达/参数标定/信息融合Key words
camera/ 3D laser radar/ parameter calibration/ information fusion分类
信息技术与安全科学引用本文复制引用
温景阳,杨建,付梦印,张继伟,杨蔚青..一种摄像机和3维激光雷达外部参数最大似然估计的标定算法[J].机器人,2011,33(1):102-106,5.基金项目
国家自然科学基金资助项目(60773044) （60773044）
教育部长江学者和创新团队发展计划资助项目 （）
中国博士后科学基金资助项目(20080440310). （20080440310）
