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

Table 1

The performance of PSO for extrinsic parameters calibration.

Order	𝑠	𝑤11	𝑤12	𝑤13	𝑤21	𝑤22	𝑤23	𝑡1	𝑡2	𝑡3	Time (s)
1	0.3244	5.3536	−0.1320	−0.2327	1.0309	−0.6892	−5.3457	2.7222	−109.3953	5.3276	0.7237
2	0.3404	2.5309	−0.0624	−0.2304	0.4784	−0.2557	−2.5310	1.3692	−55.4788	−7.1949	0.7175
3	0.3328	1.6392	−0.0385	−0.0641	0.3289	−0.2452	−1.5627	0.5244	−37.1193	−12.9526	0.7059
4	0.3291	−12.4868	0.3137	0.7653	−2.3754	1.7716	12.2181	−5.2497	241.8434	16.5697	0.7237
5	0.3432	−17.5503	0.4231	1.6248	−3.2606	2.3388	17.1477	−1.6669	323.7501	−4.5083	0.7253
6	0.3726	−29.0181	0.6558	3.8494	−5.3153	7.3192	28.4911	1.9166	525.3508	−44.1139	0.7117
7	0.3476	−37.5951	0.9284	3.0366	−7.1762	6.2046	36.1728	−15.2600	730.2179	199.5670	0.7062
8	0.3694	−1.6929	0.0415	0.1844	−0.3119	0.1704	1.6258	−0.5066	30.9968	10.4553	0.7103
9	0.3232	−5.0241	0.1244	0.3380	−0.9736	0.4936	4.8326	−1.7687	101.7259	27.9931	0.7144
10	𝟎.𝟐𝟗𝟖𝟏	−𝟏.𝟑𝟐𝟒𝟐	𝟎.𝟎𝟑𝟑𝟏	𝟎.𝟎𝟔𝟐𝟎	−𝟎.𝟐𝟔𝟑𝟐	𝟎.𝟏𝟐𝟓𝟕	𝟏.𝟐𝟔𝟗𝟗	−𝟎.𝟔𝟑𝟐𝟓	𝟐𝟗.𝟐𝟕𝟓𝟔	𝟗.𝟑𝟓𝟗𝟗	𝟎.𝟕𝟏𝟓𝟑
Average	0.3381										0.7154
In [11]	𝟎.𝟑𝟕𝟔𝟒	−𝟐.𝟓𝟕𝟒𝟓	0.0604	0.0418	−𝟎.𝟒𝟗𝟖𝟗	𝟎.𝟑𝟖𝟎𝟖	𝟐.𝟓𝟎𝟑𝟕	−𝟎.𝟑𝟖𝟔𝟎	𝟓𝟑.𝟕𝟔𝟓𝟒	𝟓.𝟐𝟗𝟓𝟒	0.4966