A Novel Extrinsic Calibration Method of a Camera-And-LiDAR System
| Autor: | Wanting Deng, Yujian Cai, Yinwei Zhan |
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| Rok vydání: | 2021 |
| Předmět: |
Landmark
Computer science Calibration (statistics) business.industry Coordinate system Feature extraction ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Astrophysics::Instrumentation and Methods for Astrophysics Planar Lidar Robustness (computer science) ComputerApplications_MISCELLANEOUS Computer vision Artificial intelligence business Feature detection (computer vision) |
| Zdroj: | 2021 IEEE 7th International Conference on Virtual Reality (ICVR). |
| Popis: | This paper is concerned with a novel extrinsic calibration method consisting of a camera and a LiDAR. A proposed planer calibrator is designed for highly effective calibration together with a feature detection algorithm for extracting the landmark features on the planer calibrator, which are adopted to derive the projection matrix equation between the camera and the LiDAR coordinate systems. The calibration result is further optimized via the cross-correlation equation among the planar calibrator poses in the sensor data frames. Compared to the state-of-the-art extrinsic calibration approaches between a camera and a LiDAR, the proposed approach achieves competitive calibration accuracy and robustness. |
| Databáze: | OpenAIRE |
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