LiDAR is one of the most used sensors in many areas like robotics, self-driving cars, and advanced driving assistance systems due to providing an accurate point cloud of the surroundings. However, to cope with challenges in perceiving the environment around a vehicle, LiDAR data is often combined with data from other sensors. Thermal cameras can provide complementary information that can be beneficial, especially for detecting pedestrians and seeing at nighttime and in fog, dust, etc. In this paper, we propose an algorithm for the extrinsic calibration of a thermal camera and a LiDAR sensor in a vehicle. First, one or more thermal image-point cloud pairs of our designed calibration target are collected. Then line and plane equations of the target’s edges and plane in both data modalities are found. Finally, the algorithm uses lines and plane correspondences to cross-calibrate the sensors. The proposed method obtains good results with one or more poses. We also show that it works well with sparse LiDAR data. Several experiments are presented to illustrate the effectiveness of the method.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Automatic Extrinsic Calibration of Thermal Camera and LiDAR for Vehicle Sensor Setups


    Contributors:


    Publication date :

    2023-06-04


    Size :

    6356487 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups

    Beltran, Jorge / Guindel, Carlos / de la Escalera, Arturo et al. | IEEE | 2022


    Automatic extrinsic calibration for lidar-stereo vehicle sensor setups

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


    LiDAR-Camera System Automatic Extrinsic Calibration in Rail Transit

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


    Automatic Multi-camera Multi-LiDAR Extrinsic Calibration using Geometric Corners

    Chen, Feiyi / Zhang, Shuyang / Xie, Xupeng et al. | IEEE | 2022