Title: | Calibration of RGB camera with velodyne LiDAR |
Authors: | Veľas, Martin Španěl, Michal Materna, Zdeněk Herout, Adam |
Citation: | 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. |
Issue Date: | 2014 |
Publisher: | Václav Skala - UNION Agency |
Document type: | konferenční příspěvek conferenceObject |
URI: | wscg.zcu.cz/WSCG2014/!!_2014-WSCG-Communication.pdf http://hdl.handle.net/11025/26408 |
ISBN: | 978-80-86943-71-8 |
Keywords: | kamera;LiDAR;Velodyne;kalibrace;marker |
Keywords in different language: | camera;LiDAR;Velodyne;calibration;marker |
Abstract in different language: | 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. |
Rights: | @ Václav Skala - UNION Agency |
Appears in Collections: | WSCG 2014: Communication Papers Proceedings |
Please use this identifier to cite or link to this item:
http://hdl.handle.net/11025/26408
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