Název:	Calibration of RGB camera with velodyne LiDAR
Autoři:	Veľas, Martin Španěl, Michal Materna, Zdeněk Herout, Adam
Citace zdrojového dokumentu:	WSCG 2014: communication papers proceedings: 22nd International Conference in Central Europeon Computer Graphics, Visualization and Computer Visionin co-operation with EUROGRAPHICS Association, p. 135-144.
Datum vydání:	2014
Nakladatel:	Václav Skala - UNION Agency
Typ dokumentu:	konferenční příspěvek conferenceObject
URI:	wscg.zcu.cz/WSCG2014/!!_2014-WSCG-Communication.pdf http://hdl.handle.net/11025/26408
ISBN:	978-80-86943-71-8
Klíčová slova:	kamera;LiDAR;Velodyne;kalibrace;marker
Klíčová slova v dalším jazyce:	camera;LiDAR;Velodyne;calibration;marker
Abstrakt v dalším jazyce:	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.
Práva:	@ Václav Skala - UNION Agency
Vyskytuje se v kolekcích:	WSCG 2014: Communication Papers Proceedings

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