Embedded Files
JLOC, Software Tool for the Extrinsic Calibration between an Omnidirectional Camera and a 2D Laser Range Finder
JLOC is a Java based software tool to get the extrinsic calibration between an omnidirectional camera and a 2D laser range finder. The fundamental concepts of this software tools were published in the paper titled "Embedding Range Information in Omnidirectional Images Through Laser Range Finder".
Using this calibration, 2D laser points can be projected on the omnidirectional image as follows: 2D points are transformed to the camera frame, then these points are projected on the normalized plane, and finally camera intrinsic and distortion parameters are considered to project laser points on the omnidirectional image. Thanks to this projection, it can be know what omnidirectional image points are placed at specific distance from the camera frame. Actually, JLOC is a registered software legally recognized by the Interior Ministry of Colombia. This document can be downloaded here.
Once users open JLOC, it shows five different panels namely: first, the camera intrinsic calibration parameters panel; second, the camera extrinsic calibration parameters panel; third, the range laser calibration parameters; fourth, the image data set panel, and the laser data set panel.
The camera intrinsic and extrinsic parameters are loaded from their original MAT data file. This file is generated by the Christopher Mei Calibration toolbox. Then, users should introduce the laser range finder calibration parameters. These parameters include: the slope and the intersect of the range model.
Afterwards, the original calibration images used to get the intrinsic and extrinsic camera parameters are loaded in the fourth panel. Then, the corresponding laser data files are loaded using the fifth panel.
All operations are registered in the log panel at bottom of the JLOC GUI.
The second Tab of the JLOC GUI is enabled once users load all required information. Here, there are four panels as follows: first panel includes the error and number of iterations of the Levenberg-Marquardt optimizer.
The second panel shows the controls to perform the following operations: computing the best three image-laser data sets to initialize the extrinsic calibration, performing the initial guess, assigning as initial guess the identity transformation, projecting onto the omnidirectional image the initial guess computed, and starting / stopping the Levenberg-Marquardt optimizer.
Once the non-linear optimization finishes, results are shown in the third panel, it includes the rotation angles, and the components of the translation vector. Using this panel users can project the resulting extrinsic calibration onto the omnidirectional image. Also, users can tune the calibration parameters. And, users are able to export the resulting extrinsic calibration in a text file.
This software was developed for academic use only. The following file includes the user manual:
If you use JLOC in your academic work please cite this paper:
Bacca, E.B. and Mouaddib, E. and Cuffi, X., Embedding Range Information on Omnidirectional Images through Laser Range Finder, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, Taipei, Taiwan, October, 2010
You can download a copy of JLOC v0.6, to do that please contact me:
Prof. Bladimir Bacca Cortes Ph.D.
Address: Cra. 100, Street 13, Universidad del Valle, Melendez, Building E53, Office 2006.
Tel: +5723212100 Ext. 7656
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