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METHOD OF CALIBRATING A CAMERA AND A LASER SCANNER

  • US 20180315214A1
  • Filed: 04/11/2018
  • Published: 11/01/2018
  • 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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