An automatic calibration and validation pipeline is disclosed to estimate and evaluate the accuracy of extrinsic parameters of a camera-to-LiDAR coordinate transformation. In an embodiment, an automated and unsupervised calibration procedure is employed where the computed rotational and translational parameters (“extrinsic parameters”) of the camera-to-LiDAR coordinate transformation are automatically estimated and validated, and upper bounds on the accuracy of the extrinsic parameters are set. The calibration procedure combines three-dimensional (3D) plane, vector and point correspondences to determine the extrinsic parameters, and the resulting coordinate transformation is validated by analyzing the projection of a filtered point cloud including a validation target in the image space. A single camera image and LiDAR scan (a “single shot”) are used to calibrate and validate the extrinsic parameters. In addition to only requiring a single shot, the complete procedure solely relies on one or more planar calibration targets and simple geometrical validation targets.


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    Titel :

    Camera-to-LiDAR calibration and validation



    Erscheinungsdatum :

    07.06.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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