Generalized laser three-point algorithm for motion estimation of camera-laser fusion system

Yunsu Bok, Dong-Geol Choi, In So Kweon
2013 2013 IEEE International Conference on Robotics and Automation  
This paper presents a new structure-from-motion (SFM) technique called 'generalized laser three-point' algo rithm. It is designed to estimate the motion of the camera-laser fusion system which consists of a 2D laser sensor and multiple cameras. The laser points are projected onto the images and tracked to other frames to be used as 3D-2D correspondences. However, the typical three-point algorithms cannot estimate the motion of the system if three points are collinear. Using the laser points as
more » ... D points, this case happens frequently if the laser sensor scans a large plane (e.g. open ground). Even in that case, two frames of the laser data are not collinear if the system is moved while it captures the frames. Among three point correspondences required to estimate the motion, we select two points and the other point from different frames. We estimate the relative pose between the frames by solving an 8-degree polynomial equation. The experimental results show that the proposed algorithm is more appropriate for our fusion system than the previous algorithms. y. Bok is a postdoctoral researcher of Division of Future Vehicle, KAlST, Daejeon, South Korea D.-G. Choi is a Ph.D. student of the Robotics Program, KAlST, Daejeon, South Korea kr I. S. K weon is a professor
doi:10.1109/icra.2013.6630976 dblp:conf/icra/BokCK13 fatcat:4jlwyr4u4fepjlgiyxdl2q745e