This paper presents a novel extrinsic calibration algorithm between a binocular stereo vision system and a 2D LIDAR (laser range finder). Extrinsic calibration of these heterogeneous sensors is required to fuse information obtained separately by vision sensor and LIDAR in the context of intelligent vehicle. By placing a planar chessboard at different positions and orientations in front of the sensors, the proposed method solves the problem based on 3D reconstruction of the chessboard and geometric constraints between views from the stereovision system and the LIDAR. The three principle steps of the approach are: 3D corner points triangulation, 3D plane least-squares estimation, solving extrinsic parameters by applying a non-linear optimization algorithm based on the geometric constraints. To evaluate the performance of the algorithm, experiments based on computer simulation and real data are performed. The proposed approach is also compared with a popular calibration method to show its advantages.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    3D triangulation based extrinsic calibration between a stereo vision system and a LIDAR


    Beteiligte:
    You Li, (Autor:in) / Ruichek, Y. (Autor:in) / Cappelle, C. (Autor:in)


    Erscheinungsdatum :

    01.10.2011


    Format / Umfang :

    1990576 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Automatic extrinsic calibration for lidar-stereo vehicle sensor setups

    Guindel, Carlos / Beltran, Jorge / Martin, David et al. | IEEE | 2017


    CONTINUOUS EXTRINSIC ONLINE CALIBRATION FOR STEREO CAMERAS

    Mueller, Georg R. / Wuensche, Hans-Joachim | British Library Conference Proceedings | 2016


    HD-Map Aided LiDAR-INS Extrinsic Calibration

    Wong, Henry / Zhang, Xiaolong / Wen, Tuopu et al. | IEEE | 2021


    Non-contact 3D acquisition system based on stereo vision and laser triangulation

    Vilaça, J. o. / Fonseca, J. C. / Pinho, A. n. | British Library Online Contents | 2010


    Line Feature Based Extrinsic Calibration of LiDAR and Camera

    Jiang, Jingjing / Xue, Peixin / Chen, Shitao et al. | IEEE | 2018