METHOD OF CALIBRATING A CAMERA AND A LASER SCANNER
First Claim
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.
1 Assignment
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Accused Products
Abstract
A method of calibrating a camera and a laser scanner for their sensor fusion is provided whereby the camera records a camera image of a scene and the laser scanner at least partly scans the scene with a scanning beam and records 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, wherein an offset and/or a relative orientation between the camera and the laser scanner is determined from a comparison of the camera image and the remission image. Distances with respect to the remission image are here also determined by the laser scanner and distances with respect to the camera image are reconstructed; and in that a correspondence search of corresponding features in the camera image and in the remission image is carried out in three-dimensional space for the comparison.
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Citations
20 Claims
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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:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A system composed of a camera and a laser scanner, and an evaluation unit that is configured to calibrate the camera and the laser scanner by using a method of calibrating the camera and the laser scanner for their sensor fusion, the method comprising the steps of:
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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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Specification