Comprehensive Analysis of System Calibration between Optical Camera and Range Finder

This paper describes the comprehensive analysis of system calibration between an optical camera and a range finder. The results suggest guidelines for accurate and efficient system calibration enabling high-quality data fusion. First, self-calibration procedures were carried out using a testbed designed for both the optical camera and range finder. The interior orientation parameters of the utilized sensors were precisely computed. Afterwards, 92 system calibration experiments were carried out according to different approaches and data configurations. For comparison of the various experimental results, two measures, namely the matching rate of fusion data and the standard deviation of relative orientation parameters derived after system calibration procedures, were considered. Among the 92 experimental cases, the best result (the matching rate of 99.08%) was shown for the use of the one-step system calibration method and six datasets from multiple columns. Also, the root mean square values of the residuals after the self- and system calibrations were less than 0.8 and 0.6 pixels, respectively. In an overall evaluation, it was confirmed that the one-step system calibration method using four or more datasets provided more stable and accurate relative orientation parameters and data fusion results than the other cases.

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