Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 10, Issue 1, Pages 109-116Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-012-0112-3
Keywords
2D/3D fusion; calibration; expectation-maximization; ICP
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The laser and camera calibration problem has been the primary issue in the subject of fusion of 3D space and 2D image information. While the solution for the calibration is mathematically well defined as closed-form by least squares techniques, reliability of the solution can be degraded by uncertainties in measurements. To enhance the reliability of calibration results, we adopted the EM (Expectation-Maximization) algorithm as a noise removal process in the sensor system. The simulation and real experimental results show the effectiveness of our approaches.
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