Detail publikace

Calibration of RGB Camera With Velodyne LiDAR

Originální název

Calibration of RGB Camera With Velodyne LiDAR

Anglický název

Calibration of RGB Camera With Velodyne LiDAR

Jazyk

en

Originální abstrakt

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.

Anglický abstrakt

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.

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"
}