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Mathematical Problems in Engineering
Volume 2014 (2014), Article ID 291461, 13 pages
Research Article

Parameters Separated Calibration Based on Particle Swarm Optimization for a Camera and a Laser-Rangefinder Information Fusion

1School of Information Science and Engineering, Central South University, Changsha 410083, China
2School of Computer and Information Engineering, Hunan University of Commerce, Changsha 410205, China

Received 27 March 2014; Revised 31 May 2014; Accepted 2 June 2014; Published 2 July 2014

Academic Editor: Youqing Wang

Copyright © 2014 Kaijun Zhou and Lingli Yu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Heterogeneous sensors fusion of a camera and a laser-rangefinder can greatly improve the environment perception ability, and its primary problem is the calibration of depth scan and image information. At first, the mapping relationship among world coordinate system, camera coordinate system, and image plane is discussed, and then the calibration of camera intrinsic parameters is achieved. Moreover, the intrinsic and extrinsic parameters separated calibration is presented for a camera and a laser-rangefinder, and the characteristic identification is adopted by two intersection calibration boards with a certain angel for fusion characters extraction. Furthermore, the particle swarm optimization is proposed for the extrinsic parameters estimation with different objectives, and the Gaussian elimination is utilized for the initial particle swarm. The simulation and real experimental results show that the standard deviation of calibration error in the 21-group experiments is decreased by 10.175%, and it also proves the accuracy and effectiveness of our approaches.