title: AprilTag array-aided extrinsic calibration of camera-laser multi-sensor system.
abstract: This paper presents a new algorithm for extrinsically calibrating a multi-sensor system including multiple cameras and a 2D laser scanner. On the basis of the camera pose estimation using AprilTag, we design an AprilTag array as the calibration target and employ a nonlinear optimization to calculate the single-camera extrinsic parameters when multiple tags are in the field of view of the camera. The extrinsic parameters of camera-camera and laser-camera are then calibrated, respectively. A global optimization is finally used to refine all the extrinsic parameters by minimizing a re-projection error. This algorithm is adapted to the extrinsic calibration of multiple cameras even if there is non-overlapping field of view. For algorithm validation, we have built a micro-aerial vehicle platform with multi-sensor system to collect real data, and the experiment results confirmed that the proposed algorithm yields great performance.
authors: College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan China.
authors: Dengqing
authors: D
authors: Tang
authors: College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan China.
authors: Tianjiang
authors: T
authors: Hu
authors: College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan China.
authors: Lincheng
authors: L
authors: Shen
authors: College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan China.
authors: Zhaowei
authors: Z
authors: Ma
authors: College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan China.
authors: Congyu
authors: C
authors: Pan
keywords: AprilTag array; Extrinsic calibration; Multi-sensor; Non-overlapping