Robotics and Computer Vision Lab

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저 자 Yunsu Bok, Dong-Geol Choi, Pascal Vasseur, In So Kweon
학 회 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
논문일시(Year) 2014
논문일시(Month) 09
In this paper are presented simple and practical solutions to extrinsic calibration between a camera and a 2D laser sensor, without overlap. Previous methods utilized a plane or an intersecting line of two planes as a geometric constraint with enough common field-of-view. These required additional sensors to calibrate non-overlapping systems. In this paper, we present two methods for solving the problem – one utilizes a plane; the other utilizes an intersecting line of two planes. For each method, an initial solution of the relative positions of a
non-overlapping camera and a laser sensor, was computed by adopting a reasonable assumption about geometric structures. Then we refined it via non-linear optimization, even if the assumption was not perfectly satisfied. Both simulation results and experiments using real data showed that the proposed methods provided reliable results compared to ground-truth, and similar or better results than those provided by a conventional method.


This research is supported by the National Research Foundation, Korea, under the NRF-ANR joint research programme (No. 2011-0031920).

List of Articles
414. High Quality Depth Map Upsampling and Completion for RGB-D cameras
Jaesik Park, Hyeongwoo Kim, Yu-Wing Tai, Michael S. Brown, In So Kweon
IEEE Transactions on Image Processing (TIP) 2014 / 09
413. Robust High Dynamic Range Imaging by Rank Minimization
Tae-Hyun Oh, Joon-Young Lee, Yu-Wing Tai, In So Kweon
IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2015 / 06
412. 저가형 보드를 탑재한 로봇 비전 알고리즘을 위한 특징량 압축 기법
Yukyung Choi, Chaehoon Park, In So Kweon
제9회 한국로봇종합학술대회 2014 / 06
411. Robust Binary Feature Using Intensity Order
Yukyung Choi, Chaehoon Park, Joon-Young Lee, In So Kweon
The 12th Asian Conference on Computer Vision (ACCV) 2014 / 11
410. Accelerated kmeans Clustering using Binary Random Projection
Yukyung Choi, Chaehoon Park, In So Kweon
The 12th Asian Conference on Computer Vision (ACCV) 2014 / 11
409. Real-time Head Orientation from a Monocular Camera using Deep Neural Network
Byungtae Ahn, Jaesik Park, In So Kweon
The 12th Asian Conference on Computer Vision (ACCV) 2014 / 11
408. Bayesian Filtering for Keyframe-based Visual SLAM
Jungho Kim, Kukjin Yoon, In So Kweon
International Journal of Robotics Research 2014 / 08
407. Motion Deblurring using Coded Exposure for a Wheeled Mobile Robot
Kibaek Park, Seunghak Shin, Hae-Gon Jeon, Joon-Young Lee, In So Kweon
The 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2014 / 11
406. RGBD Sensor and Mirrors: a Practical Setup for 3D Reconstruction of Dynamic Objects
Min-Hyun Kim, Jaesik Park, In So Kweon
The 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2014 / 11
405. A Simple and Real-Time Moving Object Detection Invariant to Cast Shadow
Tae-Hyun Oh, In So Kweon
The 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2014 / 11
404. A Fusion Approach for Robust Visual Object Tracking in Crowd Scenes
Tae-Hyun Oh, Kyungdon Joo, Junsik Kim, Jaesik Park, In So Kweon
The 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2014 / 11
403. Geometric Calibration of Micro-Lens-Based Light-Field Cameras using Line Features
Yunsu Bok, Hae-Gon Jeon, In So Kweon
European Conference on Computer Vision (ECCV) 2014 / 09
402. Extrinsic Calibration of 2D Laser Sensors
Dong-Geol Choi, Yunsu Bok, Jun-sik Kim, In So Kweon
International Conference on Robotics & Automation (ICRA) 2014 / 05
» Extrinsic Calibration of Non-overlapping Camera-Laser System using Structured Environment
Yunsu Bok, Dong-Geol Choi, Pascal Vasseur, In So Kweon
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2014 / 09
400. 깊은 신경망을 통한 사용자 머리 자세 추정
Byungtae Ahn, In So Kweon
제9회 한국로봇종합학술대회 2014 / 06
399. GMM-based Saliency Aggregation for Calibration-free Gaze Estimation
Jinsoo Choi, Byungtae Ahn, Jaesik Park, In So Kweon
International Conference on Image Processing (ICIP) 2014 / 10
398. Cost-Aware Depth Map Estimation for Lytro Camera
Min Jung Kim, Tae-Hyun Oh, In So Kweon
International Conference on Image Processing (ICIP) 2014 / 10
397. Balanced Optical Flow Refinement by Bidirectional Constraint
Jongwon Choi, Hyeongwoo Kim, Tae-Hyun Oh, In So Kweon
International Conference on Image Processing (ICIP) 2014 / 10
396. Auto-adjusting Camera Exposure for Outdoor Robotics using Gradient Information
Inwook Shim, Joon-Young Lee, In So Kweon
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2014 / 09
395. Rao-Blackwellized Particle Filtering with Gaussian Mixture Models for Robust Visual Tracking
Jungho Kim, Zhe Lin, In So Kweon
Computer Vision and Image Understanding 2014 / 04
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