Automatic intrinsic and extrinsic calibration for a monocular camera-odometry system

doi:10.13474/j.cnki.11-2246.2021.0141

Abstract

Abstract: In this paper, we provide a novel intrinsic and extrinsic calibration method for a monocular camera and odometry system automatically. Unlike previous methods aiming at only alternative intrinsic or extrinsic parameters, this method efficiently calibrates both intrinsic and extrinsic parameters using one platform in a unified way. Our platform contains four chessboards with three of them assembled in an optimized way for intrinsic calibration, and the fourth chessboard for the extrinsic calibration. Based on this platform, the camera-odometry system only need to take one shot image of the three chessboards for intrinsic calibration, and then move with a planar z-path seeing the fourth chessboard for the extrinsic calibration. Testing on the real dataset collected from clear robot, we show that our method can accurately estimate the intrinsic parameters with a measurement to evaluate the calibration quality automatically, and it’s effficient and outperform the previous methods.

Key words: monocular camera, calibration, mobile robot, monocular and odometry system

CLC Number:

YUAN Debao, CAI Liangli, WANG Cheng. Automatic intrinsic and extrinsic calibration for a monocular camera-odometry system[J]. Bulletin of Surveying and Mapping, 2021, 0(5): 54-58.

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