Modules for Velodyne 3D LiDAR Calibration and Data Processing
VEĽAS, M. ŠPANĚL, M. MATERNA, Z.
This software contains several ROS (http://www.ros.org/) (Robot Operating System) modules for processing data from Velodyne 3D LiDAR, e.g. for road and obstacle detection. One of the modules implements a new pipeline for calibration, i.e. mutual pose and orientation estimation, of the camera and LiDAR sensor using a coarse to fine approach. The calibration benefits from a novel 3D marker which can be robustly detected in both the camera image and the LiDAR scan. The method requires only a single pair of camera-LiDAR frames for estimating large sensors displacement. Consequent refinement step searches for more accurate calibration in a small subspace of calibration parameters.
Camera, LiDAR, Velodyne, calibration, 3D marker, point cloud, road detection, obstacle detection
- http://www.fit.vutbr.cz/research/prod/index.php?id=384 - https://github.com/robofit/but_velodyne