Accurate extrinsic calibration for the invisible-light 1D laser rangefinder and camera

Abstract

A combined sensor, comprising a camera and a one-dimensional laser rangefinder (1D LRF), has wide application across engineering sectors, notably in aerospace. This combined sensor is pivotal for earth observation and deep space exploration. To achieve precise and stable external parameters for this combined sensor, an accurate external calibration method is proposed. Initially, a technique for localized registration of laser spots is introduced to ensure precise determination of their positions, addressing the challenge of laser invisibility in a 1D LRF. Subsequently, a data evaluation criterion known as the data synthesis criterion is presented, addressing the issue of limited constraints in traditional calibration methods. This criterion evaluates relative errors encompassing 1D LRF ranging values, camera external parameters, and laser spot positions. Finally, based on the proposed criteria, a robust extrinsic calibration method is introduced that automatically filters observation data with significant errors and utilizes the growth rate of camera spatial resolution as the termination condition. The efficacy of the proposed method is confirmed through simulation experiments and real-world data experiments.