The online extrinsic parameters calibration among multiple sensors for data fusion has been a crucial task in autonomous driving. This paper proposes a new online, robust pipeline of automatic extrinsic parameters calibration between monocular RGB cameras and LiDARs for autonomous driving applications. The novelties of this work includes threefold: (1) an automatic full pipeline of the calibration is developed for the autonomous driving system; (2) an initialization stage is developed for calibration without the initial value of extrinsic parameters; (3) a combination of depth estimation and edge detection is used to improve the calibration accuracy and robustness. We implement the proposed calibration algorithm on an autonomous driving platform, a BYD Qin electric sedan. Both the simulation and experiment results verify the online and robust performance of the proposed calibration pipeline.


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    Title :

    Online Intelligent Calibration of Cameras and LiDARs for Autonomous Driving Systems*


    Contributors:
    Xu, Hanbo (author) / Lan, Gongjin (author) / Wu, Shaoguan (author) / Hao, Qi (author)


    Publication date :

    2019-10-01


    Size :

    2341821 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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