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A Branch-and-Bound Algorithm for Checkerboard Extraction in Camera-Laser Calibration
[article]
2017
arXiv
pre-print
We address the problem of camera-to-laser-scanner calibration using a checkerboard and multiple image-laser scan pairs. Distinguishing which laser points measure the checkerboard and which lie on the background is essential to any such system. We formulate the checkerboard extraction as a combinatorial optimization problem with a clear cut objective function. We propose a branch-and-bound technique that deterministically and globally optimizes the objective. Unlike what is available in the
arXiv:1704.00887v1
fatcat:kfqvloqqu5c6nooak7lc5mfam4