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

Algorithm 1

The summary of the PSO algorithm.

(1) Initialize.

 (1.1) Generate an initial swarm of 𝑁 particles at random by Gaussian elimination.

 (1.2) Generate initial velocities 𝑣_𝑖𝑑, 1≤𝑖≤𝑁 and 1≤𝑑≤𝐷, at random.

(2) Repeat until a given maximal number of iterations is achieved.

 (2.1) Evaluate the fitness of each particle using (20).

 (2.2) Determine the best vector pbest visited so far by each particle.

 (2.3) Determine the best vector gbest visited so far by the whole swarm.

 (2.4) Update velocities 𝑣_𝑖𝑑 using (18) according to the factor model.

 (2.5) Update particle vectors 𝑥_𝑖𝑑 using (19).