Robotics and Computer Vision Lab

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International Conference
2014.07.01 19:27

Extrinsic Calibration of 2D Laser Sensors

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저 자 Dong-Geol Choi, Yunsu Bok, Jun-sik Kim, In So Kweon
학 회 International Conference on Robotics & Automation (ICRA)
논문일시(Year) 2014
논문일시(Month) 05
This paper describes a new methodology for estimating a relative pose of two 2D laser sensors.
Two dimensional laser scan points do not have enough feature information for motion tracking.
For this reason, additional image sensors or artificial landmarks have been used to find a relative pose.
We propose the method to estimate a relative pose of 2D laser sensors without any additional sensor or artificial landmark.
By scanning two orthogonal planes, we utilize only the coplanarity of the scan points on each plane and the orthogonality of the plane normals.
Experiments with both synthetic and real data show the validity of the proposed method.
To the best of our knowledge this works provides the first solution for the problem.

List of Articles
18. Robust direct motion estimation considering discontinuity
Jongeun Ha, In So Kweon
Pattern Recognition Letters 2000 / 11
17. A novel stereo camera system by a biprism
Doohyun Lee, In So Kweon
IEEE Transactions on Robotics and Automation 2000 / 10
16. Self-localization of a mobile robot without camera calibration using projective invariants
Wangheon Lee, In So Kweon
Pattern Recognition Letters 2000 / 01
15. A new calibration algorithm using known angles
Jongeun Ha, In So Kweon
Electronics Letters 2000 / 01
14. A Fast and stable snake algorithm for medical images
Dongjoong Kang, In So Kweon
Pattern Recognition Letters 1999 / 05
13. A fast and stable method for detecting and tracking medical organs in MRI sequences
Dongjoong Kang, Changyeong Kim, Seo Yang-Seok, In So Kweon
IEICE Transactions on Information and Systems 1999 / 02
12. Perceived Illumination Measured
Changyeong Kim, S. Petrov, Seo Yang-Seok, In So Kweon
Color Research and Application 1998 / 01
11. 2-D object recognition using invariant contour descriptor and projective refinement
Kyoungsig Roh, In So Kweon
Pattern Recognition 1998 / 05
10. Map-based probabilistic reasoning to vehicle segmentation
Joonwoong Lee, In So Kweon
Pattern Recognition 1998 / 12
9. 2-D curved shape recognition using a local curve descriptor and projective refinement
Kyoungsig Roh, In So Kweon
IEICE Transactions on Information and Systems 1998 / 05
8. Illuminant direction and shape of a bump
Changyeong Kim, A.P.Petrov, Choh Heui-Keun, Seo Yang-Seock, In So Kweon
Journal of the Optical Society of America - A - Optics Image Science and Vision 1998 / 01
7. Extraction of line features in a noisy image
Joonwoong Lee, In So Kweon
Pattern Recognition 1997 / 06
6. Color and printer models for color halftoning
Changyeong Kim, In So Kweon
Journal of Electronic Imaging 1997 / 04
5. Image Point Matching by Triangulation
Joonwoong Lee, In So Kweon
Intelligent Automation and Soft Computing 1997 / 01
4. Group-based multi agent system configuration for mobile robot navigation
M. Watanabe, K. Onoguchi, Y. Kuno, In So Kweon
Japan Journal of Robot 1995 / 04
3. Extracting topographic terrain features from elevation maps
In So Kweon, T. Kanade
Computer Vision, Graphics and Image Understanding 1994 / 03
2. Sonar-based behaviors for behavior-based mobile robots
In So Kweon, K. Onoguchi, M. Watanabe
IEICE Transactions on Information and Systems 1993 / 04
1. High resolution terrain map from multiple sensor data
In So Kweon, T. Kanade
Special Issue on 3-D Vision of IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI) 1992 / 02
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