Published November 7, 2022 | Version v1
Conference paper Open

Open-Box Target for Extrinsic Calibration of LiDAR, Camera and Industrial Robot

  • 1. Robotics Department, Fraunhofer IWU
  • 2. Faculty of Automation and Computer Engineering, Novosibirsk State Technical University
  • 3. Department of Computer Engineering, TUC
  • 4. Fraunhofer IWU

Description

Low cost 3D LiDAR complement cameras in perception application for various industrial environments. Safe and efficient human robot collaboration requires easy and accurate extrinsic calibration of sensors with an industrial robot. This work presents an efficient and accurate method for extrinsic calibration between LiDAR, camera and a heavy-duty industrial robot. Open-box target mounted on robot enables parameter estimation by constraining sensor data to multiple planes, which constitute the target surface. The method enables eight correspondences between the sensors and the robot in each data sample. The method enables speedup in sensor setup and drastically reduces efforts required for data collection through automation. The results have been evaluated for simulated and real environment.

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20200928_F_OpenBox_Calibration_AquibRashid (2).pdf

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Additional details

Funding

SHAREWORK – Safe and effective HumAn-Robot coopEration toWards a better cOmpetiveness on cuRrent automation lacK manufacturing processes. 820807
European Commission