software

This software contains several ROS (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

7. 7. 2014

   - http://www.fit.vutbr.cz/research/prod/index.php?id=384    - https://github.com/robofit/but_velodyne

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https://www.fit.vut.cz/research/product/384/

but_velodyne.zip