Apparatus and method with composite sensor calibration
First Claim
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1. An apparatus, including one or more processing devices, the apparatus comprising:
- a plane extractor to extract, using at least one of the one or more processing devices, at least one plane from first data obtained by a first sensor;
a first feature point extractor to extract, using at least one of the one or more processing devices, a first feature point from the first data based on the at least one plane;
a second feature point extractor to project, using at least one of the one or more processing devices, the first feature point onto second data obtained by a second sensor and to extract a second feature point corresponding to the first feature point from a part of the second data onto which the first feature point is projected; and
a transformation parameter calculator to calculate, using at least one of the one or more processing devices, a coordinate transformation parameter between the first sensor and the second sensor using a difference between coordinate values of the first and second feature points.
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Abstract
An apparatus and method capable of calculating a coordinate transformation parameter without having to utilize a rig are provided. The apparatus and method extract a first feature point based on a plane of first data, project the first feature point onto second data and then extract a second feature point from a part of the second data onto which the first feature point is projected. Then, calibration is performed based on the extracted feature points. Therefore, it is possible to perform calibration immediately as necessary without having to utilize a separate device such as a rig.
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Citations
20 Claims
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1. An apparatus, including one or more processing devices, the apparatus comprising:
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a plane extractor to extract, using at least one of the one or more processing devices, at least one plane from first data obtained by a first sensor; a first feature point extractor to extract, using at least one of the one or more processing devices, a first feature point from the first data based on the at least one plane; a second feature point extractor to project, using at least one of the one or more processing devices, the first feature point onto second data obtained by a second sensor and to extract a second feature point corresponding to the first feature point from a part of the second data onto which the first feature point is projected; and a transformation parameter calculator to calculate, using at least one of the one or more processing devices, a coordinate transformation parameter between the first sensor and the second sensor using a difference between coordinate values of the first and second feature points. - View Dependent Claims (2, 3, 4, 5)
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6. An apparatus, including one or more processing devices, the apparatus comprising:
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a plane extractor to extract, using at least one or more processing devices, at least one plane from first data obtained by a first sensor; a first feature point extractor to extract, using at least one of the one or more processing devices, a first feature point from the first data based on the at least one plane; a first line extractor to extract, using at least one of the one or more processing devices, a first line from the first data based on the at least one plane; a second line extractor to project, using at least one of the one or more processing devices, the first line onto second data obtained by a second sensor and to extract a second line corresponding to the first line from a part of the second data onto which the first line is projected; a second feature point extractor to extract, using at least one of the one or more processing devices, a second feature point corresponding to the first feature point based on the second line; and a transformation parameter calculator to calculate, using at least one of the one or more processing devices, a coordinate transformation parameter between the first sensor and the second sensor using a difference between coordinate values of the first and second feature points. - View Dependent Claims (7, 8, 9, 10, 11)
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12. A method, the method comprising:
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extracting at least one plane from first data obtained by a first sensor; extracting a first feature point from the first data based on the at least one plane; projecting the first feature point to second data obtained by a second sensor, and extracting a second feature point corresponding to the first feature point from a part of the second data to which the first feature point is projected; and calculating a coordinate transformation parameter between the first sensor and the second sensor using a difference between coordinate values of the first and second feature points. - View Dependent Claims (13, 19)
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14. A calibration method of a composite sensor, comprising:
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extracting at least one plane from first data obtained by a first sensor; extracting a first feature point from the first data based on the at least one plane; projecting the first feature point to second data obtained by a second sensor, and extracting a second feature point corresponding to the first feature point from a part of the second data to which the first feature point is projected; and calculating a coordinate transformation parameter between the first sensor and the second sensor using the first feature point and the second feature point, wherein the calculating of the coordinate transformation parameter comprises; registering, when a difference between coordinate values of the first and second feature points is equal to or less than a first threshold value, the first feature point and the second feature point; and calculating, when the number of the registered first and second feature points is equal to or more than a second threshold value, the coordinate transformation parameter using the registered first feature point and the second feature point.
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15. A method, the method comprising:
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extracting at least one plane from first data obtained by a first sensor; extracting a first feature point from the first data based on the at least one plane; extracting a first line from the first data based on the at least one plane; projecting the first line to second data obtained by a second sensor, and extracting a second line corresponding to the first line from a part of the second data to which the first line is projected; extracting a second feature point corresponding to the first feature point based on the second line; and calculating a coordinate transformation parameter between the first sensor and the second sensor using a difference between coordinate values of the first and second feature points. - View Dependent Claims (16, 17, 18, 20)
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Specification