Open-Box Target for Extrinsic Calibration of LiDAR, Camera and Industrial Robot

Abstract

Low cost 3D LiDAR complement cameras in perception application for various industrial environments. Safe and efficient human robot collaboration requires easy and accurate extrinsic calibration of sensors with an industrial robot. This work presents an efficient and accurate method for extrinsic calibration between LiDAR, camera and a heavy-duty industrial robot. Open-box target mounted on robot enables parameter estimation by constraining sensor data to multiple planes, which constitute the target surface. The method enables eight correspondences between the sensors and the robot in each data sample. The method enables speedup in sensor setup and drastically reduces efforts required for data collection through automation. The results have been evaluated for simulated and real environment.

Flexible sensor concept and an efficient integrated sensing controlling for an efficient human-robot collaboration using 3D local global sensing systems

“…The occupancy of these workspaces is checked in the real-time collision avoidance system, using polar coordinate limits. Extrinsic calibration between the robot and LiDAR is assumed to be known ( Rashid et al, 2020 ). Finally, the constrained occlusion area can further be covered using a local 3D camera on the robot body, facing toward the shadow area.…”