3 June 2014 Infrared stereo calibration for unmanned ground vehicle navigation
Author Affiliations +
Abstract
The problem of calibrating two color cameras as a stereo pair has been heavily researched and many off-the-shelf software packages, such as Robot Operating System and OpenCV, include calibration routines that work in most cases. However, the problem of calibrating two infrared (IR) cameras for the purposes of sensor fusion and point could generation is relatively new and many challenges exist. We present a comparison of color camera and IR camera stereo calibration using data from an unmanned ground vehicle. There are two main challenges in IR stereo calibration; the calibration board (material, design, etc.) and the accuracy of calibration pattern detection. We present our analysis of these challenges along with our IR stereo calibration methodology. Finally, we present our results both visually and analytically with computed reprojection errors.
© (2014) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Josh Harguess, Shawn Strange, "Infrared stereo calibration for unmanned ground vehicle navigation", Proc. SPIE 9084, Unmanned Systems Technology XVI, 90840S (3 June 2014); doi: 10.1117/12.2053537; https://doi.org/10.1117/12.2053537
PROCEEDINGS
8 PAGES


SHARE
Back to Top