汪霖, 曹建福, 韩崇昭. 基于粒子群优化的机器人多传感器自标定方法[J]. 机器人, 2009, 31(5): 391-396..
WANG Lin, CAO Jianfu, HAN Chongzhao . A Robot Multi-sensor Self-calibration Method Based on Particle Swarm Optimization. ROBOT, 2009, 31(5): 391-396..
Abstract:Aiming at the estimation problem of the position and orientation relationship of multiple sensors in robotic perceptual system,a new self-calibration approach based on particle swarm optimization(PSO)is proposed.According to the constraint of the projection line produced by laser scanning points in image,the nonlinear optimization objective function of the extrinsic parameters between a camera and a laser scanner is established.And particle swarm optimization method is adopted for extrinsic parameters.The approach is insensitive to the initial value of parameters,and does not require any calibration object as well.The experimental results confirm that the proposed algorithm can yield high accurate calibration results.
[1] Zhang Q L,Pless R.Extrinsic calibration of a camera and laser range finder(improves camera calibration)[C]//Proceedings of the IEEE/RSJ Intemational Conference on Intelligent Robots and Systems.Piscataway,NJ.USA:IEEE,2004:2301-2306.
[2] Li G H,Liu Y H,Dong L,et al.An algorithm for extrinsic parameters caliblition of a camera and a laser range finder using line features[C]//Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2007:3854-3859.
[3] Scaramuzza D,Harati A,Siegwart R.Extrinsic self calibration of a camera and a 3D laser range finder from natural scenes[C]//Proceedings of the IEEE/RSJ Intemational Confererice on Intelligent Robots and Systems.Piscat.away,NJ.USA:IEEE,2007:4164-4169.
[4] Tsaj R Y.A versatile camera calibration technique for highaccuracy 3D machine vision metrology using off-the-shelf TV calnelis and lenses[J].IEEE Journal of Robotics and AUtomation,1987,3(4):323-344.
[5] Hartley R,Zisserman A.Multiple view geometry in computer vision[M].2nd ed.Cambridge,UK:Cambridge University Press,2004:158-166.
[6] Kennedy J,Eberhart R C.Particle swarm optimization[C]//Proceedings of IEEE International Conference on Neural Networks.Piscataway,NJ.USA:IEEE,1995:1942-1948.
[7] van den aergh F,Engelbrecht A P.A cooperative approach to particle swarln optimization[J].IEEE Transactions on Evolutionary Computation,2004,8(3):225-239.
[8] Laskari E C,Parsopoulos K E,Vrahatis M N.Particle swarm optimization for integer programming[C]//Proceedings of the IEEE Congress on Evolutionary Computation.Piscataway,NJ,USA:IEEE,2002:1582-1587.
[9] Shi Y,Eberhart R.A modified particle swarm optimizer[C]//Proceedings of the IEEE International Conference on Evolutionary Computation.Piscataway,NJ,USA:IEEE,1998:69-73.
[10] 谢晓锋,张文俊,杨之廉.微粒群算法综述[J].控制与决策,2003,18(2):129-134.Xie Xiaofeng,Zhang Wenjun,Yang Zhilian.Overview of particle swarln optimization[J].Control and Decision,2003,18(2):129-134.
[11] Fischler M A,Bolles R C.Random sampie consensus:A paradigm for model fitting with applications to image analysis and automated cartography[J].Communications of the ACM,1981,24(6):381-395.