US 11,940,569 B2
Method for determining extrinsic calibration parameters for a measuring system
Quentin Pentek, Montpellier (FR); Tristan Allouis, Montpellier (FR); Christophe Fiorio, Montpellier (FR); and Olivier Strauss, Montpellier (FR)
Assigned to Yellowscan, Montferrier-sur-lez (FR); Universite de Montpellie, Montpellier (FR); and Centre National De La Recherche Scientifique, Paris (FR)
Appl. No. 17/597,686
Filed by Centre National de la Recherche Scientifique, Paris (FR); YellowScan, Montferrier-sur-Lez (FR); and Université de Montpellier, Montpellier (FR)
PCT Filed Jul. 3, 2020, PCT No. PCT/FR2020/051184
§ 371(c)(1), (2) Date Jan. 18, 2022,
PCT Pub. No. WO2021/009431, PCT Pub. Date Jan. 21, 2021.
Claims priority of application No. 1908004 (FR), filed on Jul. 16, 2019.
Prior Publication US 2022/0276359 A1, Sep. 1, 2022
Int. Cl. H04N 7/18 (2006.01); G01S 7/497 (2006.01); G01S 17/86 (2020.01); G01S 17/89 (2020.01); G06T 7/55 (2017.01); G06T 7/80 (2017.01); H04N 17/00 (2006.01)
CPC G01S 7/497 (2013.01) [G01S 17/86 (2020.01); G01S 17/89 (2013.01); G06T 7/55 (2017.01); G06T 7/80 (2017.01); H04N 17/002 (2013.01); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for calibrating a measuring system including an image capture device, a laser scanner, and a positioning unit, the method comprising:
preparing at least two images provided by the image capture device, the images representing at least one common scene captured from different points of view, and preparing a 3D point cloud of the common scene created using the data provided by the laser scanner and by the positioning unit;
identifying at least one homologous point in the images, the homologous point corresponding to the same point of the common scene; and
performing an optimization sequence for determining at least one calibration parameter, the optimization sequence comprising at least one iteration of the following steps:
for each image, identifying, in the 3D point cloud, at least one close point that projects into a neighborhood of the homologous point of the image;
establishing a measurement of the distance separating the close points associated with the homologous point of the images; and
adjusting the calibration parameter according to the established measurement.