Detail publikace

Calibration of RGB Camera With Velodyne LiDAR

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

Originální název

Calibration of RGB Camera With Velodyne LiDAR

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

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.

Klíčová slova

Camera, LiDAR, Velodyne, calibration, marker

Autoři

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

Rok RIV

2014

Vydáno

5. 6. 2014

Nakladatel

Union Agency

Místo

Plzeň

ISBN

978-80-86943-71-8

Kniha

WSCG 2014 Communication Papers Proceedings

ISSN

1213-6972

Periodikum

Journal of WSCG

Ročník

2014

Číslo

22

Stát

Česká republika

Strany od

135

Strany do

144

Strany počet

10

URL

http://wscg.zcu.cz/DL/wscg_DL.htm

BibTex

@inproceedings{BUT111558,
  author="Martin {Veľas} and Michal {Španěl} and Zdeněk {Materna} and Adam {Herout}",
  title="Calibration of RGB Camera With Velodyne LiDAR",
  booktitle="WSCG 2014 Communication Papers Proceedings",
  year="2014",
  journal="Journal of WSCG",
  volume="2014",
  number="22",
  pages="135--144",
  publisher="Union Agency",
  address="Plzeň",
  isbn="978-80-86943-71-8",
  issn="1213-6972",
  url="http://wscg.zcu.cz/DL/wscg_DL.htm"
}