Automatic calibration of a stationary network of laser range finders by matching movement trajectories

Schenk, Konrad; Kolarow, Alexander; Eisenbach, Markus; Debes, Klaus; Groß, Horst–Michael

doi:10.1109/iros.2012.6385620

Cited by 14 publications

(8 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Another approach consists of matching the trajectories of dynamic objects (or people) in the scene (Glas et al, 2010;Schenk et al, 2012). For that, the trajectory of one, or several objects, is tracked independently by each LRF, and these trajectories are registered to constraint the sensor's relative poses.…”

Section: Related Workmentioning

confidence: 99%

Extrinsic calibration of 2D laser rangefinders from perpendicular plane observations

Fern

ndez-Moral

Gonz

et al. 2015

The International Journal of Robotics Research

View full text Add to dashboard Cite

Many applications in the fields of mobile robotics and autonomous vehicles employ two or more 2D laser rangefinders (LRFs) for different purposes: navigation, obstacle detection, 3D mapping or simultaneous localization and mapping. The extrinsic calibration between such sensors (i.e. finding their relative poses) is required to exploit effectively all of the sensor measurements and to perform data fusion. In the literature, most works employing several LRFs obtain their extrinsic calibration from manual measurements or from ad-hoc solutions. In this paper we present a new method to obtain such calibration easily and robustly by scanning perpendicular planes (typically corners encountered in structured scenes), from which geometric constraints are inferred. This technique can be applied to a rig with any number of LRFs in almost any geometric configuration (a minimum of two LRFs whose scanning planes are not parallel is required). Experimental results are presented with synthetic and real data to validate our proposal. A C++ implementation of this method and a dataset are also provided.

show abstract

Section: Related Workmentioning

confidence: 99%

Extrinsic calibration of 2D laser rangefinders from perpendicular plane observations

Fern

ndez-Moral

Gonz

et al. 2015

The International Journal of Robotics Research

View full text Add to dashboard Cite

show abstract

“…For this, we transform each person hypothesis into coordinates of a global map. The global map is generated by calibrating each camera using their intrinsic parameters and multiple laser range finders [15].…”

Section: Merging Image-based Hypotheses Into a Global Metatrack Reprementioning

confidence: 99%

“…It is generated in an offline phase by clustering trajectories, obtained by camera [11] and laser-range-finder based people tracking [14,15]. The mean transition time and variance between neighboring nodes is stored in their connecting edge.…”

Section: Predictionmentioning

confidence: 99%

APFel: The intelligent video analysis and surveillance system for assisting human operators

Kolarow

Schenk

Eisenbach

et al. 2013

2013 10th IEEE International Conference on Advanced Video and Signal Based Surveillance

Self Cite

View full text Add to dashboard Cite

The rising need for security in the last years has led to an increased use of surveillance cameras in both public and private areas. The increasing amount of footage makes it necessary to assist human operators with automated systems to monitor and analyze the video data in reasonable time. In this paper we summarize our work of the past three years in the field of intelligent and automated surveillance. Our proposed system extends the common active monitoring of camera footage into an intelligent automated investigative person-search and walk path reconstruction of a selected person within hours of image data. Our system is evaluated and tested under life-like conditions in real-world surveillance scenarios. Our experiments show that with our system an operator can reconstruct a case in a fraction of time, compared to manually searching the recorded data.

show abstract

“…Blanco et al [11] applied the odometer data and multiple LRFs data to construct the multiple 3D point cloud of the same scene, and then completed the calibration between LRFs by 3D point cloud matching. Glas [12] and Schenk [13] et al estimated the relative positions between LRFs by matching the trajectories of dynamic objects in the scene. Although these methods do not require any specially designed markers, the calibration error between the LRFs and the intermediate sensors may be accumulated in the calculation of the extrinsic parameters between the LRFs when they do not have enough common view.…”

Section: Introductionmentioning

confidence: 99%

Extrinsic Calibration of Multiple Two-Dimensional Laser Rangefinders Based on a Trihedron

Zhu

Huang

Tian

et al. 2020

Sensors

View full text Add to dashboard Cite

Multiple two-dimensional laser rangefinders (LRFs) are applied in many applications like mobile robotics, autonomous vehicles, and three-dimensional reconstruction. The extrinsic calibration between LRFs is the first step to perform data fusion and practical application. In this paper, we proposed a simple method to calibrate LRFs based on a corner composed of three mutually perpendicular planes. In contrast to other methods that require a special pattern or assistance from other sensors, the trihedron corner needed in this method is common in daily environments. In practice, we can adjust the position of the LRFs to observe the corner until the laser scanning plane intersects with three planes of the corner. Then, we formed a Perspective-Three-Point problem to solve the position and orientation of each LRF at the common corner coordinate system. The method was validated with synthetic and real experiments, showing better performance than existing methods.

show abstract

Automatic calibration of a stationary network of laser range finders by matching movement trajectories

Cited by 14 publications

References 23 publications

Extrinsic calibration of 2D laser rangefinders from perpendicular plane observations

Extrinsic calibration of 2D laser rangefinders from perpendicular plane observations

APFel: The intelligent video analysis and surveillance system for assisting human operators

Extrinsic Calibration of Multiple Two-Dimensional Laser Rangefinders Based on a Trihedron

Contact Info

Product

Resources

About