Publication Details

Andrew Palmer, Christopher Peterson, Janelle Blankenburg, Monica Nicolescu, and David Feil-Seifer. "Simple Camera-to-2D-LiDAR Calibration Method for General Use." In International Conference on Visual Computing (ISVC), Virtual, Oct 2020. ( pdf )


  • Keywords:
  • socially assistive robotics
  • Socially-Aware Navigation (SAN)

Abstract

As systems that utilize computer vision move into the public domain, methods of calibration need to become easier to use. Though multi-plane LiDAR systems have proven to be useful for vehicles and large robotic platforms, many smaller platforms and low cost solutions still require 2D LiDAR combined with RGB cameras. Current methods of calibrating these sensors make assumptions about camera and laser placement and/or require complex calibration routines. In this paper we propose a new method of feature correspondence in the two sensors and an optimization method capable of calibration target with unknown lengths in its geometry. Our system is designed with an inexperienced layperson as the intended user, which has lead us to remove as many assumptions about both the target and laser as possible. We show that our system is capable of calibrating the 2-sensor system from a single sample in configurations other methods are unable to handle.

Author Details

Name: Andrew Palmer
Status: Active

Name: Christopher Peterson
Status: Inactive

Name: Janelle Blankenburg
email: jjblankenburg@nevada.unr.edu
Website: jblankenburg.github.io
Status: Active

Name: Monica Nicolescu
Status: Active

Name: David Feil-Seifer
email: dave@cse.unr.edu
Website: http://cse.unr.edu/~dave
Phone: (775) 784-6469
Status: Active

BibTex Reference

@inproceedings{palmer2020simple,
  title={Simple Camera-to-2D-LiDAR Calibration Method for General Use},
  author={Andrew Palmer and Christopher Peterson and Janelle Blankenburg and Monica Nicolescu and David Feil-Seifer},
  year={2020},
  month={October},
  address={Virtual},
  booktitle={International Conference on Visual Computing (ISVC)},
}

HTML Reference

<span class="authors">Andrew Palmer, Christopher Peterson, Janelle Blankenburg, Monica Nicolescu, and David Feil-Seifer</span>. <span class="title">"Simple Camera-to-2D-LiDAR Calibration Method for General Use." </span> In <span class="booktitle">International Conference on Visual Computing (ISVC)</span>, <span class="address">Virtual</span>, <span class="month">Oct</span> <span class="year">2020</span>. <span class="ending"></span>

Support

CHS: Small: Socially-Aware Navigation, National Science Foundation PI: David Feil-Seifer, co-PI: Monica Nicolescu, Amount: $500,000, Sept. 1, 2017 - Aug. 31, 2021

REU Site: Collaborative Human-Robot Interaction, National Science Foundation PI: David Feil-Seifer, co-PI: Shamik Sengupta, Amount: $360,000, Feb. 1, 2018 - Jan. 31, 2021