引用本文: 彭梦, 蔡自兴. 基于多约束误差函数的2维激光雷达和摄像机标定方法[J]. 机器人, 2014, 36(6): 662-667,675.
PENG Meng, CAI Zixing. A Calibration Method of a Camera and 2D Laser Radar Based on Multi-constraint Error Function[J]. ROBOT, 2014, 36(6): 662-667,675.
 Citation: PENG Meng, CAI Zixing. A Calibration Method of a Camera and 2D Laser Radar Based on Multi-constraint Error Function[J]. ROBOT, 2014, 36(6): 662-667,675.

## A Calibration Method of a Camera and 2D Laser Radar Based on Multi-constraint Error Function

• 摘要: 基于棋盘格标定板的标定方法是当今主流的2维激光雷达和摄像机标定方法（以2004年Zhang提出的方法最为经典），但是该方法在优化标定参数时使用的误差函数是弱约束关系，影响了标定结果的精确度和稳定性．由于激光点不但应该位于标定板平面上而且应该位于标定板的矩形区域内部，因此基于以上两个空间约束关系本文提出一种多约束误差函数模型．与原有的Zhang方法比较，所提方法可在更严格的可行域空间中搜索最优值，实验结果定性和定量地显示本文方法提高了标定结果的精确度和鲁棒性．

Abstract: In recent years, the calibration method based on the checkerboard is the most popular and the most practical calibration method for camera and 2-dimensional laser radar, and the most classic one is Zhang's method proposed in 2004. However, the optimization error function used by Zhang is a weak constraint relation, which affects the accuracy and stability of calibration results. Therefore, a multi-constraint optimization error function model is proposed based on the spatial relationship that the laser points should lie not only on the calibration board plane, but also in the calibration board area. Compared with the Zhang's method, the proposed method searches the optimal calibration results in a stricter feasible area. Qualitative and quantitative analyses of simulation results show that the proposed method can improve the accuracy and robustness.

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