机器人Issue(6)：662-667,675,7.DOI:10.13973/j.cnki.robot.2014.0662
基于多约束误差函数的2维激光雷达和摄像机标定方法
A Calibration Method of a Camera and 2D Laser Radar Based on Multi-constraint Error Function
摘要
Abstract
In recent years, the calibration method based on the checkerboard is the most popular and the most practical calibration method for camera and 2-dimensional laser radar, and the most classic one is Zhang’s method proposed in 2004. However, the optimization error function used by Zhang is a weak constraint relation, which affects the accuracy and sta-bility of calibration results. Therefore, a multi-constraint optimization error function model is proposed based on the spatial relationship that the laser points should lie not only on the calibration board plane, but also in the calibration board area. Compared with the Zhang’s method, the proposed method searches the optimal calibration results in a stricter feasible area. Qualitative and quantitative analyses of simulation results show that the proposed method can improve the accuracy and robustness.关键词
激光雷达/摄像机/参数标定/信息融合Key words
laser radar/camera/parameter calibration/information fusion分类
信息技术与安全科学引用本文复制引用
彭梦,蔡自兴..基于多约束误差函数的2维激光雷达和摄像机标定方法[J].机器人,2014,(6):662-667,675,7.基金项目
国家自然科学基金重大研究计划重点项目（90820302）． （）
