This work presents an extrinsic parameter estimation algorithm between a 3D LIDAR and a Projective Camera using a marker-less planar target, by exploiting Planar Surface Point to Plane and Planar Edge Point to back-projected Plane geometric constraints. The proposed method uses the data collected by placing the planar board at different poses in the common Field of View (FoV) of the LIDAR and the Camera. The steps include, detection of the target and the edges of the target in LIDAR and Camera frames, matching the detected planes and lines across both the sensing modalities and finally solving a cost function formed by the aforementioned geometric constraints that link the features detected in both the LIDAR and the Camera using non-linear least squares. We have extensively validated our algorithm using two Basler Cameras, Velodyne VLP-32 and Ouster OS1 LIDARs.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Extrinsic Calibration of a 3D-LIDAR and a Camera


    Beteiligte:


    Erscheinungsdatum :

    19.10.2020


    Format / Umfang :

    719217 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    A Survey of Extrinsic Calibration of LiDAR and Camera

    Wang, Yuru / Li, Jian / Sun, Yi et al. | TIBKAT | 2022


    Line Feature Based Extrinsic Calibration of LiDAR and Camera

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


    LiDAR-Camera System Automatic Extrinsic Calibration in Rail Transit

    Wu, Qian / Zhang, Jin / Sheng, Jie et al. | IEEE | 2022


    A Survey of Extrinsic Calibration of LiDAR and Camera

    Wang, Yuru / Li, Jian / Sun, Yi et al. | Springer Verlag | 2022


    A Survey of Extrinsic Calibration of LiDAR and Camera

    Wang, Yuru / Li, Jian / Sun, Yi et al. | British Library Conference Proceedings | 2022