1A2-Q15 Extrinsic Camera Parameter Estimation using Laser Scanner for a Mobile Mapping System(ITS and Robot Technology)

Abstract

This paper describes an extrinsic camera parameter estimation method for a 3D measurement using a mobile mapping system (MMS). MMS can acquire the 3D information of the road environment efficiently using the laser scanner. However, a measurement range is limited because of the performance of the laser scanner, the use of camera for the 3D measurement is expected. In the 3D measurement using the camera, the accurate extrinsic camera parameter estimation is required. We propose an automatic camera parameter estimation method that uses the measurement data of laser scanner acquired by the MMS. In the result of experiment, it is confirmed that the proposed method can estimate the extrinsic camera parameter to an accuracy of 0.07 degree.