Device, system and method for calibration of camera and laser sensor
First Claim
1. A calibration device, comprising:
- a camera configured to capture image information;
a laser sensor configured to detect distance information; and
a calibration module configured to perform a calibration of the camera and the laser sensor by obtaining a relation between the image information and the distance information,wherein the calibration module comprises;
a plane member disposed to intersect a scanning surface of the laser sensor such that an intersection line is generated, and disposed within a capturing range by the camera so as to be captured by the camera, and a controller configured to perform coordinate conversions with respect to the image information and the distance information based on a ratio between one side of the plane member and the intersection line, and based on a plane member image included in the image information.
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Accused Products
Abstract
Disclosed are a calibration device, a calibration system and a calibration method. The calibration device includes a camera configured to capture image information, a laser sensor configured to capture image information, a laser sensor configured to detect distance information, and a calibration module configured to perform a calibration of the camera and the laser sensor by obtaining a relation between the image information and the distance information, wherein the calibration module includes a plane member disposed to intersect a scanning surface of the laser sensor such that an intersection line is generated, and disposed within a capturing range by the camera so as to be captured by the camera, and a controller configured to perform coordinate conversions with respect to the image information and the distance information based on a ratio between one side of the plane member and the intersection line, and based on a plane member image included in the image information. Under these configurations, a calibration is performed through direct coordinate conversions with respect to image information and distance information.
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Citations
16 Claims
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1. A calibration device, comprising:
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a camera configured to capture image information; a laser sensor configured to detect distance information; and a calibration module configured to perform a calibration of the camera and the laser sensor by obtaining a relation between the image information and the distance information, wherein the calibration module comprises; a plane member disposed to intersect a scanning surface of the laser sensor such that an intersection line is generated, and disposed within a capturing range by the camera so as to be captured by the camera, and a controller configured to perform coordinate conversions with respect to the image information and the distance information based on a ratio between one side of the plane member and the intersection line, and based on a plane member image included in the image information. - View Dependent Claims (2, 3, 4, 5)
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6. A calibration system, comprising:
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a camera configured to capture image information; a laser sensor configured to detect distance information; a calibration device having a plane member disposed within a capturing range by the camera and within a detection range by the laser sensor, and a controller configured to perform coordinate conversions with respect to the image information and the distance information based on an intersection line between a scanning surface of the laser sensor and the plane member; and a driving device coupled to the plane member to change a posture of the plane member in at least one direction among roll, pitch and yaw directions. - View Dependent Claims (7, 8, 9, 10, 11)
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12. A calibration method for performing coordinate conversions with respect to a camera configured to capture image information, and a laser sensor configured to detect distance information, the calibration method comprising:
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detecting an intersection line between a plane member disposed within a detection range by the laser sensor and a scanning surface of the laser sensor; calculating position data of an intersection line image captured by the camera, based on one preset side of the plane member, the intersection line, and a plane member image captured by the camera; and calculating a conversion matrix which represents a position relation between the camera and the laser sensor, based on a position data of the intersection line image, and position data of the intersection line measured by the laser sensor. - View Dependent Claims (13, 14, 15, 16)
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Specification