Monocular cameras and planar lidar sensors are complementary. While monocular visual odometry (VO) is a relatively low-drift method for measuring platform egomotion, it suffers from a scale ambiguity. A planar lidar scanner, in contrast, is able to provide precise distance information with known scale. In combination, a monocular camera-2D lidar pair can be used as a performance 3D scanner, at a much lower cost than existing 3D lidar units. However, for accurate scan acquisition, the two sensors must be spatially and temporally calibrated. In this paper, we extend recent work on a calibration technique based on Rényi’s quadratic entropy (RQE) to the unified spatiotemporal calibration of monocular cameras and 2D lidars. We present simulation results indicating that calibration errors of less than 5 mm, 0.1\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$^\circ $$\end{document}, and 0.15 ms in translation, rotation, and time delay, respectively, are readily achievable. Using real-world data, in the absence of reliable ground truth, we demonstrate high repeatability given sufficient platform motion. Unlike existing techniques, we are able to calibrate in arbitrary, target-free environments and without the need for overlapping sensor fields of view.
Unified Spatiotemporal Calibration of Monocular Cameras and Planar Lidars
Springer Proceedings in Advanced Robotics
International Symposium on Experimental Robotics ; 2018 ; Buenos Aires, Argentina November 05, 2018 - November 08, 2018
Proceedings of the 2018 International Symposium on Experimental Robotics ; Kapitel : 67 ; 781-790
2020-01-23
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
EASY AUTO-CALIBRATION OF SENSORS ON A VEHICLE EQUIPPED WITH MULTIPLE 2D-LIDARS AND CAMERAS
British Library Conference Proceedings | 2019
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