Sensor Calibration for Arbitrary Viewpoint Visualization System with Laser Radar and Multiple Fisheye Cameras

Abstract

It is important to visualize a teleoperated robot and its surrounding environment to the operator. An arbitrary viewpoint visualization system generates images that simulates to be taken from external viewpoint with onboard sensors. It is necessary to calibrate the sensors for field utilization of the visualization system. In this research, a sensor calibration method for a laser radar and multiple fisheye cameras is proposed. The proposed method uses the shape model of machine and multiple planes in the surrounding environment to calibrate fisheye cameras and laser radar. The calibration experiments was conducted with the real machine. The obtained image by the calibration result of the proposed method has low discrepancy between laser radar mesh and fisheye camera texture.