激光雷达与摄像机的配准  

Registration of Laser Range Finder and Camera

作　　者：彭骏驰[1] 唐琎[1] 王力[1] 蔡自兴[1] 

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《微计算机信息》2008年第4期4-6,共3页Control & Automation

基　　金：教育部留学回国人员科研启动基金资助(2005-383)

摘　　要：指出通过标定进行激光雷达与摄像机配准的方法难以适应激光雷达与摄像机之间存在自由运动的情形,提出了一种新方法,该方法首先在激光雷达图象和摄像机图象中提取边缘信息,并得到其中的完整线段,然后利用两类图象中完整线段的距离定义了配准误差,通过搜索得到配准误差的最小值,从而达到配准的目的。实验结果也说明了该方法的可行性。A registration method for laser range finder and camera through calibration is difficult to be applied when there is free movement between the laser range finder and the camera, thus a novel approach is proposed, at first, the edge information in the images of laser range finder and camera is detected, the integrity lines in both images are then obtained, the registration error is also defined through the integrity lines. After the minimum registration error is obtained, the registration is finished. Experi...

关 键 词：数据融合 配准 激光雷达 摄像机 边缘 

分 类 号：TN958.98[电子电信—信号与信息处理]