Markerless Ad-hoc Calibration of a Hyperspectral Camera and a 3D Laser Scanner

Felix Igelbrink, Thomas Wiemann, Sebastian Pütz, Joachim Hertzberg

In: Proc. IAS 2018. International Conference on Intelligent Autonomous Systems (IAS-2018) June 11-15 Baden-Baden Germany Springer International Publishing 2018.


Integrating 3D data with hyperspectral images opens up novel approaches for several robotic tasks. To that end, we register hyperspectral panoramas to cylindrically projected laser scans. With our approach, the required calibration can be done on board a mobile robot without the need of external markers using Mutual Information. Qualitative results show the robustness of the presented approach, and an application example demonstrates possible future applications for hy- perspectral point clouds.

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz