Infrared and Laser Engineering, Volume. 54, Issue 8, 20250201(2025)
A joint calibration method of stereo vision and laser rangefinder
Figures & Tables(15)
Fig. 4. The intensity of the edge of the pixel and the strength and area ratio at the both sides of edge
Fig. 6. Schematic diagram of the calibration of laser rangefinder and camera parameters
Fig. 7. (a) Diagram of the experimental scene; (b) Image acquisition interface
Fig. 8. (a) Effect of Gaussian noise on the centroid of circular spots on the calibration plate; (b) Effect of Gaussian noise on the centroid of laser spots
Table 1. Ture value of the simulation
View tableView in ArticleTable 1. Ture value of the simulation
Parameter Value Intrinsic matrix $ \left[ {\begin{array}{*{20}{c}} {5\;802.798\;086}&0&0 \\ 0&{5\;806.108\;675}&0 \\ {967.193\;004}&{650.594\;893}&1 \end{array}} \right] $ ${O_L}$ Laser emitting port) $ \left[ {147.484\;670\quad 12.949\;710 \quad - 65.249\;151} \right] $ ${P_L}$ direction vector) $ \left[ {0.074\;984\quad - 0.016\;447\quad 0.997\;049} \right] $
Table 2. Comparison of centroid extraction results of various algorithms of the left camera
View tableView in ArticleTable 2. Comparison of centroid extraction results of various algorithms of the left camera
Algorithms RMSE/pixel SSE/pixel2 Gaussian fitting 0.0632 0.1519 Gray centroid 0.0631 0.1513 Edge fitting 0.0615 0.1437 Proposed 0.0430 0.0662
Table 3. Stability of external calibration parameters
View tableView in ArticleTable 3. Stability of external calibration parameters
Parameter X/mm Y/mm Z/mm Std 0.0775 0.0707 0.1000 MSE 0.0060 0.0050 0.0100 Max 148.3139 14.1422 77.2991 Min 147.6086 13.8617 76.6088 Mean value 148.0874 14.1229 77.0247
Table 4. Calibration results of external parameters
View tableView in ArticleTable 4. Calibration results of external parameters
Parameter Value Intrinsic matrix of left camera $ \left[ {\begin{array}{*{20}{c}} {{{5\;869.308\;107}}}&0&0 \\ 0&{{{5\;869.896\;320}}}&0 \\ {{{947.435\;660}}}&{{{594.627\;724}}}&1 \end{array}} \right] $ Distortion of left camera k1=− 0.270168 , k2=11.112784 Intrinsic matrix of right camera $ \left[ {\begin{array}{*{20}{c}} {{{5\;893.289\;430}}}&0&0 \\ 0&{{{5\;894.241\;201}}}&0 \\ {{{945.649\;687}}}&{{{602.076\;067}}}&1 \end{array}} \right] $ Distortion of right camera k1=− 0.175948 , k2=6.833159 Rotation matrix (Right to left) $ \left[ {\begin{array}{*{20}{c}} {0.992\;35{{5}}}&{ - 0.000\;78{{9}}}&{ - 0.123\;41{{6}}} \\ {0.000\;698}&{0.999\;99{{9}}}&{ - 0.000\;777} \\ {0.123\;41{{7}}}&{0.000\;685}&{0.992\;35{{5}}} \end{array}} \right] $ Translation matrix $ \left[ {\begin{array}{*{20}{c}} {{{250.893}}}&{{{0.266}}}&{{{ - 15.746}}} \end{array}} \right] $ ${O_L}$ $ \left[ {\begin{array}{*{20}{c}} {{{147}}{{.906}}}&{{{14}}{{.046}}}&{{{ - 76}}{{.826}}} \end{array}} \right] $ ${P_L}$ $ \left[ {\begin{array}{*{20}{c}} {0.075}&{ - 0.016}&{0.997} \end{array}} \right] $ Reprojection error/ pixel $ {R_{error - l}} $ 0.2307 ，$ {R_{error - r}} $ 0.2234 Modified reprojection error/pixel $ {R_{error - lm}} $ 0.1804 ，$ {R_{error - rm}} $ 0.1665
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Shuai ZHI, Shihao HAN, Guopeng DING, Haodong YAN, Yonghe ZHANG, Zhencai ZHU. A joint calibration method of stereo vision and laser rangefinder[J]. Infrared and Laser Engineering, 2025, 54(8): 20250201
Paper Information
Category: 光电测量
Received: Mar. 31, 2025
Accepted: --
Published Online: Aug. 29, 2025
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