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Lipu Zhou Zhidong Deng 《清华大学学报》2014,(3):314-322
In this paper,we propose a new algorithm to establish the data association between a camera and a 2-D Light Detection And Ranging sensor (LIDAR).In contrast to the previous works,where data association is established by calibrating the intrinsic parameters of the camera and the extrinsic parameters of the camera and the LIDAR,we formulate the map between laser points and pixels as a 2-D homography.The line-point correspondence is employed to construct geometric constraint on the homography matrix.This enables checkerboard to be not essential and any object with straight boundary can be an effective target.The calculation of the 2-D homography matrix consists of a linear least-squares solution of a homogeneous system followed by a nonlinear minimization of the geometric error in the image plane.Since the measurement quality impacts on the accuracy of the result,we investigate the equivalent constraint and show that placing the calibration target nearby the 2-D LIDAR will provide sufficient constraints to calculate the 2-D homography matrix.Simulation and experimental results validate that the proposed algorithm is robust and accurate.Compared with the previous works,which require two calibration processes and special calibration targets such as checkerboard,our method is more flexible and easier to perform. 相似文献
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这款360度全景球形照相机由德同柏林丁业大学的5名学生共同研发制成。内置36个200万像素的定焦手机摄像头模块,外观呈球形,颜色翠绿,使用起来也非常方便。使用者只需将它抛向天空,当相机飞至最高点时,所有镜头同时打开,自动拍下36张不同角度的照片,然后在电脑上将这些照片拼合在一起, 相似文献
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在长期的进化过程中,每种动物都形成了一种适合于本身需要的眼睛。夜间活动的动物和白天活动的动物的眼睛是不同的,而夜间和白天都活动的动物的眼睛和前两者的眼睛又有差异;捕食性动物和被捕食性动物的眼睛迥然不同;陆上动物和水中动物的眼睛也有区别。 相似文献
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研制了适于精细小零件大批量化学热处理的滚筒炉,有效地解决了薄片状小零件在其它类型炉中散料处理时,由于零件相互堆叠、不能更位而导致加热和与活性气氛接触不均匀所带来的质量问题。为照相机、仪表、标准件等行业提供了一种新型工艺装备。 相似文献
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以色列特拉维夫大学的研究人员研制出可以在人体内“游动”的微型胶囊式照相机。据悉,这是世界上第一个用于在人体内“游动”的无线远程遥控照相机.通过体外的核磁共振成像信号进行磁控制。这种微型照棉机可以寻找伤口和肿瘤.同时不会像内窥镜那样让患者产生不适。 相似文献
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