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 |
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.
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