Extrinsic calibration of a camera and a 2D laser range finder using ping pong balls and the corner of a room

Zhu, 2020, Extrinsic calibration of multiple two-dimensional laser rangefinders based on a trihedron, Sensors, 20, 1837, 10.3390/s20071837 J. Zhang, S. Singh, LOAM: Lidar Odometry and Mapping in real-time, in: Robotics: Science and Systems, 2014, vol. 2, no. 9. Abzal, 2011, Development of a new laser triangulation system based on an optical frame of reference, Photogram. Rec., 26, 293, 10.1111/j.1477-9730.2011.00646.x Abzal, 2018, Development of a novel simplification mask for multi-shot optical scanners, ISPRS J. Photogramm. Remote Sens., 142, 12, 10.1016/j.isprsjprs.2018.05.010 J. Li, X. He, J. Li, 2D LiDAR and camera fusion in 3D modeling of indoor environment, in: 2015 National Aerospace and Electronics Conference (NAECON), 2015: IEEE, pp. 379–383. L. Wei, Multi-sources Fusion based Vehicle Localization in Urban Environments Under a Loosely Coupled Probabilistic Framework, Université de Technologie de Belfort-Montbeliard, 2013. Wei, 2018, LiDAR and camera detection fusion in a real-time industrial multi-sensor collision avoidance system, Electronics, 7, 84, 10.3390/electronics7060084 L. Iocchi, S. Pellegrini, Building 3d maps with semantic elements integrating 2d laser, stereo vision and imu on a mobile robot, in: 2nd ISPRS International Workshop 3D-ARCH, 2007. Kumar, 2020, LiDAR and camera fusion approach for object distance estimation in self-driving vehicles, Symmetry, 12, 324, 10.3390/sym12020324 Y. Yenıaydin, K.W. Schmidt, Sensor fusion of a camera and 2D LIDAR for lane detection, in: 2019 27th Signal Processing and Communications Applications Conference (SIU), 2019: IEEE, pp. 1–4. A.H. Palmer, C. Peterson, J. Blankenburg, D. Feil-Seifer, M. Nicolescu, Simple camera-to-2D-LiDAR calibration method for general use, in: International Symposium on Visual Computing, 2020: Springer, pp. 193–206. Ahmad Yousef, 2017, Extrinsic calibration of camera and 2D laser sensors without overlap, Sensors, 17, 2346, 10.3390/s17102346 M. Hillemann, B. Jutzi, UCalMiCeL-unified intrinsic and extrinsic calibration of a multi-camera-system and a laserscanner, ISPRS Annals of Photogrammetry, Remote Sensing & Spatial Information Sciences, vol. 4, 2017. Vasconcelos, 2012, A minimal solution for the extrinsic calibration of a camera and a laser-rangefinder, IEEE Trans. Pattern Anal. Mach. Intell., 34, 2097, 10.1109/TPAMI.2012.18 Gao, 2003, Complete solution classification for the perspective-three-point problem, IEEE Trans. Pattern Anal. Mach. Intell., 25, 930, 10.1109/TPAMI.2003.1217599 H. Yijia, X. XiZhen, L. Xiao. CamLaserCalibraTool. https://github.com/hoppss/CamLaserCalibraTool-1 (accessed 12/30/2022, 2022). R. Gomez-Ojeda, J. Briales, E. Fernandez-Moral, J. Gonzalez-Jimenez, Extrinsic calibration of a 2d laser-rangefinder and a camera based on scene corners, in: 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015: IEEE, pp. 3611–3616. Hu, 2016, Extrinsic calibration of 2-D laser rangefinder and camera from single shot based on minimal solution, IEEE Trans. Instrum. Meas., 65, 915, 10.1109/TIM.2016.2518248 Li, 2016, Flexible extrinsic calibration of a camera and a two-dimensional laser rangefinder with a folding pattern, Appl. Opt., 55, 2270, 10.1364/AO.55.002270 Fraser, 1997, Digital camera self-calibration, ISPRS J. Photogramm. Remote Sens., 52, 149, 10.1016/S0924-2716(97)00005-1 Cronk, 2006, Automated metric calibration of colour digital cameras, Photogramm. Rec., 21, 355, 10.1111/j.1477-9730.2006.00380.x Abbas, 2014, An on-site approach for the self-calibration of terrestrial laser scanner, Measurement, 52, 111, 10.1016/j.measurement.2014.03.009 Hosseininaveh, 2014, Towards fully automatic reliable 3D acquisition: From designing imaging network to a complete and accurate point cloud, Rob. Auton. Syst., 62, 1197, 10.1016/j.robot.2014.04.001 Fan, 2019, Extrinsic calibration between a camera and a 2D laser rangefinder using a photogrammetric control field, Sensors, 19, 2030, 10.3390/s19092030 Q. Zhang, R. Pless, Extrinsic calibration of a camera and laser range finder (improves camera calibration), in: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)(IEEE Cat. No. 04CH37566), 2004, vol. 3, IEEE, pp. 2301–2306. Kim, 2020, Extrinsic calibration of a camera and a 2D LiDAR using a dummy camera with IR cut filter removed, IEEE Access, 8, 183071, 10.1109/ACCESS.2020.3029267 Khurana, 2021, Extrinsic calibration methods for laser range finder and camera: a systematic review, Mapan, 36, 669, 10.1007/s12647-021-00500-x Itami, 2020, An improved method for the calibration of a 2-D LiDAR with respect to a camera by using a checkerboard target, IEEE Sens. J., 20, 7906, 10.1109/JSEN.2020.2980871 Zhou, 2013, A new minimal solution for the extrinsic calibration of a 2D LIDAR and a camera using three plane-line correspondences, IEEE Sens. J., 14, 442, 10.1109/JSEN.2013.2284789 Bok, 2016, Extrinsic calibration of a camera and a 2D laser without overlap, Rob. Auton. Syst., 78, 17, 10.1016/j.robot.2015.12.007 L. ZHANG, X.-b. XU, H. Jia, K.-y. ZHU, M.-z. LUO, Z. Tan, Calibration method of 2D LIDAR and camera based on indoor structural features, Acta Photon. Sin. 49(12) (2020) 1214001–1214001. G. Li, Y. Liu, L. Dong, X. Cai, D. Zhou, An algorithm for extrinsic parameters calibration of a camera and a laser range finder using line features, in: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007: IEEE, pp. 3854–3859. H. Yang, X. Liu, I. Patras, A simple and effective extrinsic calibration method of a camera and a single line scanning lidar, in: Proceedings of the 21st International Conference on Pattern Recognition (ICPR2012), 2012: IEEE, pp. 1439–1442. Itami, 2019, A simple calibration procedure for a 2D LiDAR with respect to a camera, IEEE Sens. J., 19, 7553, 10.1109/JSEN.2019.2915991 Chen, 2012, Extrinsic calibration of a camera and a laser range finder using point to line constraint, Procedia Eng., 29, 4348, 10.1016/j.proeng.2012.01.669 Shi, 2004, A new method of camera pose estimation using 2D–3D corner correspondence, Pattern Recogn. Lett., 25, 1155, 10.1016/j.patrec.2004.03.010 L. Zhang, C. Xu, K.-M. Lee, R. Koch, Robust and efficient pose estimation from line correspondences, in: Asian Conference on Computer Vision, 2012, Springer, pp. 217–230. Moré, 1978, The Levenberg-Marquardt algorithm: implementation and theory, 105 Lepetit, 2009, Epnp: An accurate o (n) solution to the pnp problem, Int. J. Comput. Vis., 81, 155, 10.1007/s11263-008-0152-6 Triggs, 1999, Bundle adjustment—a modern synthesis, 298 Dong, 2018, A novel method for the extrinsic calibration of a 2D laser rangefinder and a camera, IEEE Sens. J., 18, 4200, 10.1109/JSEN.2018.2819082 Photometrix. Australis: Photometrix Photogrammetry Software. https://www.photometrix.com.au/australis/ (accessed 2022). GOM. GOM Inspect. ZEISS. https://www.gom.com/en/products/gom-suite/gom-inspect-pro (accessed 03/23/2022, 2022). Agrawal, 2003, Camera calibration using spheres: a semi-definite programming approach, vol. 3, 782 Guan, 2015, Extrinsic calibration of camera networks using a sphere, Sensors, 15, 18985, 10.3390/s150818985 R. Penne, B. Ribbens, L. Mertens, P. Levrie, What does one image of one ball tell us about the focal length?, in: International Conference on Advanced Concepts for Intelligent Vision Systems, 2015, Springer, pp. 501–509.