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Method of calibrating a camera and a laser scanner

  • US 10,643,349 B2
  • Filed: 04/11/2018
  • Issued: 05/05/2020
  • Est. Priority Date: 04/27/2017
  • Status: Active Grant
First Claim
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1. A method of calibrating a camera and a laser scanner for their sensor fusion, the method comprising the steps of:

  • recording a camera image of a scene with the camera;

    at least partly scanning the scene with a scanning beam of the laser scanner;

    recording a remission image from the respective angular position of the scanning beam and from the intensity determined at the angular position of the scanning beam remitted from the scene;

    determining at least one of an offset and a relative orientation between the camera and the laser scanner from a comparison of the camera image and the remission image;

    determining distances with respect to the remission image by the laser scanner;

    reconstructing distances with respect to the camera image; and

    carrying out a correspondence search of corresponding features in the camera image and in the remission image in three-dimensional space for the comparison.

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