LIDAR and Panoramic Camera Extrinsic Calibration Approach Using a Pattern Plane

  • Angel-Iván García-Moreno
  • José-Joel Gonzalez-Barbosa
  • Francisco-Javier Ornelas-Rodriguez
  • Juan B. Hurtado-Ramos
  • Marco-Neri Primo-Fuentes
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7914)


Mobile platforms typically combine several data acquisition systems such as lasers, cameras and inertial systems. However the geometrical combination of the different sensors requires their calibration, at least, through the definition of the extrinsic parameters, i.e., the transformation matrices that register all sensors in the same coordinate system. Our system generate an accurate association between platform sensors and the estimated parameters including rotation, translation, focal length, world and sensors reference frame. The extrinsic camera parameters are computed by Zhang’s method using a pattern composed of white rhombus and rhombus holes, and the LIDAR with the results of previous work. Points acquired by the LIDAR are projected into images acquired by the Ladybug cameras. A new calibration pattern, visible to both sensors is used. Correspondence is obtained between each laser point and its position in the image, the texture and color of each point of LIDAR can be know.


panoramic camera LIDAR sensor calibration extrinsic calibration 


  1. 1.
    Almeida, M., Dias, P., Oliveira, M., Santos, V.: 3d-2d laser range finder calibration using a conic based geometry shape. In: Image Analysis and Recognition, pp. 312–319 (2012)Google Scholar
  2. 2.
    Atanacio-Jiménez, G., González-Barbosa, J.J., Hurtado-Ramos, J.B., Ornelas-Rodríguez, F.J., Jiménez-Hernández, T., García-Ramirez, H., González-Barbosa, R.: Lidar velodyne hdl-64e calibration using pattern planes. International Journal of Advanced Robotic Systems 8(5), 70–82 (2011)Google Scholar
  3. 3.
    Bouguet, J.Y.: Camera calibration toolbox for Matlab (2008)Google Scholar
  4. 4.
    Mei, C., Rives, P.: Calibration between a central catadioptric camera and a laser range finder for robotic applications. In: Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, pp. 532–537. IEEE (2006)Google Scholar
  5. 5.
    Mirzaei, F.M., Kottas, D.G., Roumeliotis, S.I.: 3d lidar-camera intrinsic and extrinsic calibration: Observability analysis and analytical least squares-based initialization. International Journal of Robotics Research 31(4), 452–467 (2012)CrossRefGoogle Scholar
  6. 6.
    Nunez, P., Drews Jr, P., Rocha, R., Dias, J.: Data fusion calibration for a 3d laser range finder and a camera using inertial data. In: European Conference on Mobile Robots, vol. 9, p. 9 (2009)Google Scholar
  7. 7.
    Rodriguez, F., Fremont, V., Bonnifait, P., et al.: Extrinsic calibration between a multi-layer lidar and a camera. In: IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2008, pp. 214–219. IEEE (2008)Google Scholar
  8. 8.
    Schneider, S., Himmelsbach, M., Luettel, T., Wuensche, H.J.: Fusing vision and lidar-synchronization, correction and occlusion reasoning. In: 2010 IEEE Intelligent Vehicles Symposium (IV), pp. 388–393 (2010)Google Scholar
  9. 9.
    Underwood, J., Scheding, S., Ramos, F.: Real-time map building with uncertainty using colour camera and scanning laser. In: Proceedings of the 2007 Australasian Conference on Robotics and Automation (2007)Google Scholar
  10. 10.
    Zhang, Z.: A flexible new technique for camera calibration. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1330–1334 (2000)Google Scholar
  11. 11.
    Zhao, G., Xiao, X., Yuan, J.: Fusion of velodyne and camera data for scene parsing. In: 2012 15th International Conference on Information Fusion (FUSION), pp. 1172–1179 (2012)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Angel-Iván García-Moreno
    • 1
  • José-Joel Gonzalez-Barbosa
    • 1
  • Francisco-Javier Ornelas-Rodriguez
    • 1
  • Juan B. Hurtado-Ramos
    • 1
  • Marco-Neri Primo-Fuentes
    • 1
  1. 1.Instituto Politécnico NacionalCICATAMéxico

Personalised recommendations