Publication detail

Calibration of RGB Camera With Velodyne LiDAR

VEĽAS, M. ŠPANĚL, M. MATERNA, Z. HEROUT, A.

Original Title

Calibration of RGB Camera With Velodyne LiDAR

English Title

Calibration of RGB Camera With Velodyne LiDAR

Type

conference paper

Language

en

Original Abstract

Calibration of the LiDAR sensor with RGB camera finds its usage in many application fields from enhancing image classification to the environment perception and mapping. This paper presents a pipeline for mutual pose and orientation estimation of the mentioned sensors using a  coarse to fine approach. Previously published methods use multiple views of a known chessboard marker for computing the calibration parameters, or they are limited to the calibration of the sensors with a small mutual displacement only. Our approach presents a novel 3D marker for coarse calibration which can be robustly detected in both the camera image and the LiDAR scan. It also requires only a single pair of camera-LiDAR frames for estimating large sensors displacement. Consequent refinement step searches for more accurate calibration in small subspace of calibration parameters. The paper also presents a  novel way for evaluation of the calibration precision using projection error.

English abstract

Calibration of the LiDAR sensor with RGB camera finds its usage in many application fields from enhancing image classification to the environment perception and mapping. This paper presents a pipeline for mutual pose and orientation estimation of the mentioned sensors using a  coarse to fine approach. Previously published methods use multiple views of a known chessboard marker for computing the calibration parameters, or they are limited to the calibration of the sensors with a small mutual displacement only. Our approach presents a novel 3D marker for coarse calibration which can be robustly detected in both the camera image and the LiDAR scan. It also requires only a single pair of camera-LiDAR frames for estimating large sensors displacement. Consequent refinement step searches for more accurate calibration in small subspace of calibration parameters. The paper also presents a  novel way for evaluation of the calibration precision using projection error.

Keywords

Camera, LiDAR, Velodyne, calibration, marker

RIV year

2014

Released

05.06.2014

Publisher

Union Agency

Location

Plzeň

ISBN

978-80-86943-71-8

Book

WSCG 2014 Communication Papers Proceedings

Edition

NEUVEDEN

Edition number

NEUVEDEN

Pages from

135

Pages to

144

Pages count

10

URL

Documents

BibTex


@inproceedings{BUT111558,
  author="Martin {Veľas} and Michal {Španěl} and Zdeněk {Materna} and Adam {Herout}",
  title="Calibration of RGB Camera With Velodyne LiDAR",
  annote="Calibration of the LiDAR sensor with RGB camera finds its usage in many
application fields from enhancing image classification to the environment
perception and mapping. This paper presents a pipeline for mutual pose and
orientation estimation of the mentioned sensors using a  coarse to fine approach.
Previously published methods use multiple views of a known chessboard marker for
computing the calibration parameters, or they are limited to the calibration of
the sensors with a small mutual displacement only. Our approach presents a novel
3D marker for coarse calibration which can be robustly detected in both the
camera image and the LiDAR scan. It also requires only a single pair of
camera-LiDAR frames for estimating large sensors displacement. Consequent
refinement step searches for more accurate calibration in small subspace of
calibration parameters. The paper also presents a  novel way for evaluation of
the calibration precision using projection error.",
  address="Union Agency",
  booktitle="WSCG 2014 Communication Papers Proceedings",
  chapter="111558",
  edition="NEUVEDEN",
  howpublished="online",
  institution="Union Agency",
  number="22",
  year="2014",
  month="june",
  pages="135--144",
  publisher="Union Agency",
  type="conference paper"
}