3D LIDAR-Camera Extrinsic Calibration Using an Arbitrary TrihedronReport as inadecuate




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Department of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, Zhejiang, China





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Abstract This paper presents a novel way to address the extrinsic calibration problem for a system composed of a 3D LIDAR and a camera. The relative transformation between the two sensors is calibrated via a nonlinear least squares NLS problem, which is formulated in terms of the geometric constraints associated with a trihedral object. Precise initial estimates of NLS are obtained by dividing it into two sub-problems that are solved individually. With the precise initializations, the calibration parameters are further refined by iteratively optimizing the NLS problem. The algorithm is validated on both simulated and real data, as well as a 3D reconstruction application. Moreover, since the trihedral target used for calibration can be either orthogonal or not, it is very often present in structured environments, making the calibration convenient. View Full-Text

Keywords: extrinsic calibration; 3D LIDAR-camera system; sensor fusion extrinsic calibration; 3D LIDAR-camera system; sensor fusion





Author: Xiaojin Gong * , Ying Lin * and Jilin Liu

Source: http://mdpi.com/



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