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Automatic laser and camera extrinsic calibration for data fusion using road plane

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Sistemas Inteligenteses
dc.contributor.authorRodríguez-Garavito, C. H.
dc.contributor.authorPonz Vila, Aurelio
dc.contributor.authorGarcía, Fernando
dc.contributor.authorMartín Gómez, David
dc.contributor.authorEscalera Hueso, Arturo de la
dc.contributor.authorArmingol Moreno, José María
dc.date.accessioned2016-09-30T07:21:57Z
dc.date.available2016-09-30T07:21:57Z
dc.date.issued2014-10-07
dc.description.abstractDriving Assistance Systems and Autonomous Driving applications require trustable detections. These demanding requirements need sensor fusion to provide information reliable enough. But data fusion presents the problem of data alignment in both rotation and translation. Laser scanner and video cameras are widely used in sensor fusion. Laser provides operation in darkness, long range detection and accurate measurement but lacks the means for reliable classification due to the limited information provided. The camera provides classification thanks to the amount of data provided but lacks accuracy for measurements and is sensitive to illumination conditions. Data alignment processes require supervised and accurate measurements, that should be performed by experts, or require specific patterns or shapes. This paper presents an algorithm for inter-calibration between the two sensors of our system, requiring only a flat surface for pitch and roll calibration and an obstacle visible for both sensors for determining the yaw. The advantage of this system is that it does not need any particular shape to be located in front of the vehicle apart from a flat surface, which is usually the road. This way, calibration can be achieved at virtually any time without human intervention.en
dc.description.sponsorshipThis work was supported by Automation Engineering Department from de La Salle University, Bogotá-Colombia; Administrative Department of Science, Technology and Innovation (COLCIENCIAS), Bogotá-Colombia and the Spanish Government through the Cicyt projects (GRANT TRA2010-20225-C03-01) and (GRANT TRA 2011-29454- C03-02).en
dc.format.extent7
dc.format.mimetypeapplication/pdf
dc.identifier.bibliographicCitation17th International Conference on Information Fusion (FUSION): IEEE. Pp. 1-6en
dc.identifier.isbn978-84-9012-355-3
dc.identifier.publicationfirstpage1
dc.identifier.publicationlastpage6
dc.identifier.publicationtitle17th International Conference on Information Fusion (FUSION)en
dc.identifier.urihttps://hdl.handle.net/10016/23666
dc.identifier.uxxiCC/0000023264
dc.language.isoeng
dc.publisherIEEEes
dc.relation.eventdate7-10 July 2014
dc.relation.eventplaceSalamanca, Castilla y León, Spaines
dc.relation.eventtitle17th International Conference on Information Fusionen
dc.relation.projectIDGobierno de España. TRA2010-20225-C03-01
dc.relation.projectIDGobierno de España. TRA2011-29454-C03-02
dc.relation.projectIDGobierno de España. TRA2013-48314-C3-1-R
dc.rights© 2014 IEEE.
dc.rights.accessRightsopen access
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherCalibrationen
dc.subject.otherData Alignmenten
dc.subject.otherLIDARen
dc.subject.otherExtrinsicen
dc.subject.otherRANSACen
dc.subject.otherFusionen
dc.titleAutomatic laser and camera extrinsic calibration for data fusion using road planeen
dc.typeconference paper*
dc.type.hasVersionAM*
dspace.entity.typePublication
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