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Automatic camera to laser calibration for high accuracy mobile mapping systems using INS

Werner Goeman (UGent) , Koen Douterloigne (UGent) and Sidharta Gautama (UGent)
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Abstract
A mobile mapping system (MMS) is a mobile multi-sensor platform developed by the geoinformation community to support the acquisition of huge amounts of geodata in the form of georeferenced high resolution images and dense laser clouds. Since data fusion and data integration techniques are increasingly able to combine the complementary strengths of different sensor types, the external calibration of a camera to a laser scanner is a common pre-requisite on today's mobile platforms. The methods of calibration, nevertheless, are often relatively poorly documented, are almost always time-consuming, demand expert knowledge and often require a carefully constructed calibration environment. A new methodology is studied and explored to provide a high quality external calibration for a pinhole camera to a laser scanner which is automatic, easy to perform, robust and foolproof. The method presented here, uses a portable, standard ranging pole which needs to be positioned on a known ground control point. For calibration, a well studied absolute orientation problem needs to be solved. In many cases, the camera and laser sensor are calibrated in relation to the INS system. Therefore, the transformation from camera to laser contains the cumulated error of each sensor in relation to the INS. Here, the calibration of the camera is performed in relation to the laser frame using the time synchronization between the sensors for data association. In this study, the use of the inertial relative movement will be explored to collect more useful calibration data. This results in a better intersensor calibration allowing better coloring of the clouds and a more accurate depth mask for images, especially on the edges of objects in the scene.
Keywords
mobile mapping, indirect calibration, laser 3D monoplotting, external calibration, relative calibration, camera calibration

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Chicago
Goeman, Werner, Koen Douterloigne, and Sidharta Gautama. 2013. “Automatic Camera to Laser Calibration for High Accuracy Mobile Mapping Systems Using INS.” In Proceedings of SPIE, ed. AG AG Vol. 8856. Bellingham, WA, USA: SPIE, the International Society for Optical Engineering.
APA
Goeman, W., Douterloigne, K., & Gautama, S. (2013). Automatic camera to laser calibration for high accuracy mobile mapping systems using INS. In A. AG (Ed.), Proceedings of SPIE (Vol. 8856). Presented at the Conference on Applications of Digital Image Processing XXXVI, Bellingham, WA, USA: SPIE, the International Society for Optical Engineering.
Vancouver
1.
Goeman W, Douterloigne K, Gautama S. Automatic camera to laser calibration for high accuracy mobile mapping systems using INS. In: AG A, editor. Proceedings of SPIE. Bellingham, WA, USA: SPIE, the International Society for Optical Engineering; 2013.
MLA
Goeman, Werner, Koen Douterloigne, and Sidharta Gautama. “Automatic Camera to Laser Calibration for High Accuracy Mobile Mapping Systems Using INS.” Proceedings of SPIE. Ed. AG AG . Vol. 8856. Bellingham, WA, USA: SPIE, the International Society for Optical Engineering, 2013. Print.
@inproceedings{4145959,
  abstract     = {A mobile mapping system (MMS) is a mobile multi-sensor platform developed by the geoinformation community to support the acquisition of huge amounts of geodata in the form of georeferenced high resolution images and dense laser clouds. Since data fusion and data integration techniques are increasingly able to combine the complementary strengths of different sensor types, the external calibration of a camera to a laser scanner is a common pre-requisite on today's mobile platforms. The methods of calibration, nevertheless, are often relatively poorly documented, are almost always time-consuming, demand expert knowledge and often require a carefully constructed calibration environment. A new methodology is studied and explored to provide a high quality external calibration for a pinhole camera to a laser scanner which is automatic, easy to perform, robust and foolproof. The method presented here, uses a portable, standard ranging pole which needs to be positioned on a known ground control point. For calibration, a well studied absolute orientation problem needs to be solved. In many cases, the camera and laser sensor are calibrated in relation to the INS system. Therefore, the transformation from camera to laser contains the cumulated error of each sensor in relation to the INS. Here, the calibration of the camera is performed in relation to the laser frame using the time synchronization between the sensors for data association. In this study, the use of the inertial relative movement will be explored to collect more useful calibration data. This results in a better intersensor calibration allowing better coloring of the clouds and a more accurate depth mask for images, especially on the edges of objects in the scene.},
  author       = {Goeman, Werner and Douterloigne, Koen and Gautama, Sidharta},
  booktitle    = {Proceedings of SPIE},
  editor       = {AG , AG },
  isbn         = {9780819497062},
  issn         = {0277-786X},
  keywords     = {mobile mapping,indirect calibration,laser 3D monoplotting,external calibration,relative calibration,camera calibration},
  language     = {eng},
  location     = {San Diego, CA, USA},
  pages        = {7},
  publisher    = {SPIE, the International Society for Optical Engineering},
  title        = {Automatic camera to laser calibration for high accuracy mobile mapping systems using INS},
  volume       = {8856},
  year         = {2013},
}

Web of Science
Times cited: