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

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="291461.fig.005a" src="https://static.hindawi.com/articles/mpe/volume-2014/291461/figures/291461.fig.005a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Feature extraction</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="291461.fig.005b" src="https://static.hindawi.com/articles/mpe/volume-2014/291461/figures/291461.fig.005b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Feature points extraction for one line</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="291461.fig.005c" src="https://static.hindawi.com/articles/mpe/volume-2014/291461/figures/291461.fig.005c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Feature points extraction for the other lines</td></tr></table></td></tr></table>

<table>Feature extraction of laser-rangefinder.</table>

Mathematical Problems in Engineering

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Figure 5

Figure 5: Parameters Separated Calibration Based on Particle Swarm Optimization for a Camera and a Laser-Rangefinder Information Fusion 