External parameter calibration method used when camera and two-dimensional laser range finder are used in combined mode

Abstract

The invention discloses an external parameter calibration method used when a camera and a two-dimensional laser range finder are used in a combined mode and relates to three-dimensional information image processing of objects. According to the external parameter calibration method used when the camera and the two-dimensional laser range finder are used in the combined mode, a foldable calibration plate is used for achieving external parameter calibration when the camera and the two-dimensional laser range finder are used in the combined mode, the foldable calibration plate is a long plane which is formed by splicing small rectangular black planes and small rectangular white planes alternately and can be unfolded and folded, the foldable calibration plate is unfolded when used, and the unfolding angle can be adjusted freely; calibration of internal parameter of the camera is achieved by means of a Matlab camera calibration tool box; a camera and two-dimensional laser range finder system is established; the foldable calibration plate is placed, and calibration is completed under the condition that the number of times of information acquisition of a system is smallest; image information and two-dimensional information are acquired and processed by the camera and the two-dimensional laser range finder respectively; processed camera information and processed two-dimensional laser range finder information are matched in a one-to-one mode for combined calibration; a calibration result is optimized by means of the Levenberg-Marquardt algorithm, and then calibration is completed.

Description

technical field [0001] The technical solution of the invention relates to object three-dimensional information image processing, in particular to a method for calibrating external parameters when a camera and a two-dimensional laser range finder are used in combination. Background technique [0002] The combined application of cameras and 2D laser rangefinders has been widely used in 3D information acquisition, robot motion information and 3D reconstruction technologies. The two-dimensional laser range finder can directly measure the two-dimensional information of the object, and the measurement accuracy is high, and the camera can obtain pictures including information such as color and shape; if the camera and the two-dimensional laser range finder can be used in combination, their Combining the advantages, more abundant and comprehensive information of the measured object can be obtained, and the accuracy of measurement can be improved and the information processing proces...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a method for calibrating external parameters when the camera is used in combination with a two-dimensional laser rangefinder, and to use a foldable calibration plate to complete the calibration of external parameters when the camera is used in conjunction with a two-dimensional laser rangefinder. It overcomes the shortcomings of the existing technology, such as cumbersome measurement process, poor accuracy, large calibration plate size, which is not easy to carry, and the initial value estimated during the calibration process has a great influence on the final calibration result.

Images