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Three-dimensional Super Resolution Microscopy of F-actin Filaments by Interferometric PhotoActivated Localization Microscopy iPALM

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AprilTag array-aided extrinsic calibration of camera-laser multi-sensor system.

Dengqing Tang¹, Tianjiang Hu¹, Lincheng Shen¹

¹College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan China.

Robotics and Biomimetics

|August 12, 2016

Summary

A new algorithm accurately calibrates multi-sensor systems, including cameras and laser scanners, using AprilTag targets and nonlinear optimization. This method enhances robotic perception and navigation, even with non-overlapping fields of view.

Keywords:

AprilTag array Extrinsic calibration Multi-sensor Non-overlapping

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Area of Science:

Robotics and Computer Vision
Sensor Fusion and Calibration

Background:

Accurate extrinsic calibration is crucial for multi-sensor systems in robotics.
Existing methods often struggle with non-overlapping fields of view or complex sensor configurations.

Purpose of the Study:

To present a novel algorithm for the extrinsic calibration of multi-sensor systems (cameras and 2D laser scanners).
To enable robust calibration even with non-overlapping camera fields of view.

Main Methods:

Utilizes AprilTag for camera pose estimation and designs an AprilTag array as a calibration target.
Employs nonlinear optimization for single-camera extrinsic parameter calculation.
Performs sequential calibration of camera-camera and laser-camera extrinsic parameters.
Refines all parameters using global optimization by minimizing re-projection error.

Main Results:

Successfully calibrated a multi-sensor system on a micro-aerial vehicle platform.
Experimental results validated the algorithm's high performance and accuracy.
Demonstrated effectiveness for systems with non-overlapping camera fields of view.

Conclusions:

The proposed algorithm provides an effective solution for extrinsic calibration of multi-sensor systems.
It offers robustness and accuracy, particularly for aerial robotics applications.
The method advances the integration and performance of sensor fusion in complex robotic platforms.