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Auto-calibration of line-laser structured-light seafloor mapping systems

Auto-calibration of line-laser structured-light seafloor mapping systems
Auto-calibration of line-laser structured-light seafloor mapping systems
The sub-centimetre resolution of line-laser generated maps exceeds acoustic bathymetry and provides detailed information needed for inspection and ecological research, but makes the maps more sensitive to errors stemming from (navigation and) mapping sensor calibration. The high resolution is achieved using a large relative baseline between the camera and laser apparatus. Their extrinsic parameters are often incidentally changed between missions when the vehicle they are attached to undergoes maintenance, making it desirable to have a means of calibrating these parameters in-situ and using natural scenes. Existing methods require the use of a second camera, which increases the complexity of the mapping hardware and often requires dedicated calibration manoeuvres to be performed. In this paper we present a novel in-situ calibration method using natural scenes that does not require the use of a second camera, but instead uses the ordinary data captured during a survey mission to perform a non-linear least squares optimisation that reduces inconsistencies between overlapping measurements. We take advantage of a dual line-laser setup to generate continuously overlapping measurements for calibration that have inherently small uncertainty in their relative pose estimates and demonstrate reduced inconsistency between overlapping data using our optimised calibration parameters over that of CAD-derived values.
IEEE
Stanley, David
c8f86333-0eeb-42df-9e63-5cbc0b115514
Bodenmann, Adrian
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Massot Campos, Miguel
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Thornton, Blair
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Stanley, David
c8f86333-0eeb-42df-9e63-5cbc0b115514
Bodenmann, Adrian
070a668f-cc2f-402a-844e-cdf207b24f50
Massot Campos, Miguel
a55d7b32-c097-4adf-9483-16bbf07f9120
Thornton, Blair
8293beb5-c083-47e3-b5f0-d9c3cee14be9

Stanley, David, Bodenmann, Adrian, Massot Campos, Miguel and Thornton, Blair (2021) Auto-calibration of line-laser structured-light seafloor mapping systems. In OCEANS2021: Conference & Exposition. IEEE. 6 pp . (Submitted)

Record type: Conference or Workshop Item (Paper)

Abstract

The sub-centimetre resolution of line-laser generated maps exceeds acoustic bathymetry and provides detailed information needed for inspection and ecological research, but makes the maps more sensitive to errors stemming from (navigation and) mapping sensor calibration. The high resolution is achieved using a large relative baseline between the camera and laser apparatus. Their extrinsic parameters are often incidentally changed between missions when the vehicle they are attached to undergoes maintenance, making it desirable to have a means of calibrating these parameters in-situ and using natural scenes. Existing methods require the use of a second camera, which increases the complexity of the mapping hardware and often requires dedicated calibration manoeuvres to be performed. In this paper we present a novel in-situ calibration method using natural scenes that does not require the use of a second camera, but instead uses the ordinary data captured during a survey mission to perform a non-linear least squares optimisation that reduces inconsistencies between overlapping measurements. We take advantage of a dual line-laser setup to generate continuously overlapping measurements for calibration that have inherently small uncertainty in their relative pose estimates and demonstrate reduced inconsistency between overlapping data using our optimised calibration parameters over that of CAD-derived values.

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2021-07-26_OCEANS2021_Conference_Paper - Author's Original
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More information

Submitted date: 26 July 2021
Venue - Dates: OCEANS 2021, San Diego, San Diego, United States, 2021-09-20 - 2021-09-23

Identifiers

Local EPrints ID: 450547
URI: http://eprints.soton.ac.uk/id/eprint/450547
PURE UUID: 258d88a3-4b58-4773-93ce-7b46a1e02d46
ORCID for David Stanley: ORCID iD orcid.org/0000-0003-3699-3203
ORCID for Miguel Massot Campos: ORCID iD orcid.org/0000-0002-1202-0362

Catalogue record

Date deposited: 03 Aug 2021 16:31
Last modified: 05 Aug 2021 01:55

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Contributors

Author: David Stanley ORCID iD
Author: Blair Thornton

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