一种摄像机和3维激光雷达外部参数最大似然估计的标定算法

提出了摄像机和激光雷达外部参数的最大似然估计算法.本算法在计算摄像机和3维激光雷达坐标系转换的旋转矩阵时,考虑了各参数初值的误差情况,根据方差的大小为参数初值赋予相应的权值,使误差大的初值具有较小的权重,而误差小的初值具有较大的权重,从而使参数初值的误差对标定结果的影响能够一致.在此基础上求解旋转矩阵的最大似然估计值,...

A Calibration Algorithm for Maximum Likelihood Estimation of Extrinsic Parameters of a Camera and a 3D Laser Radar

The maximum likelihood estimation method of extrinsic parameters of video camera and laser radar is proposed. When calculating the rotation matrix for the coordinate transformation of video camera and three-dimensional laser radar, the error of each initial value is taken into consideration, and corresponding weights are assigned to these initial values according to their respective variance, i.e. assigning minor weights to the initial values with major error and major weights to the initial values with minor error, thus to make the effects of various initial values’ error on the calibration results consistent with each other. On this basis, the maximum likelihood estimation of rotation matrix will be more accurate. In addition, by establishing the error model, this paper reveals the error transfer principle in the calibration process, providing reference for the further research on the calibration problems.