Extrinsic calibration of a single line scanning lidar and a camera

Kwak, Kiho; Huber, Daniel; Badino, Hernán; Kanade, Takeo

doi:10.1109/iros.2011.6094490

“…Another important contribution is provided by [7] in 2011 based on the same ideas of Wasielewski [6] and Li [4], in which extrinsic calibration parameters are estimated by minimizing the distance between corresponding features projected on the 2D image plane. The features are lines as mentioned in [4] although, calibration target is a particular two plane panel arranged in a v-shape.…”

Section: Previous Workmentioning

confidence: 99%

Automated extrinsic laser and camera inter-calibration using triangular targets

Debattisti

¹

,

Mazzei

²

,

Panciroli

³

2013

2013 IEEE Intelligent Vehicles Symposium (IV)

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Abstract-This paper presents a method for solving the extrinsic calibration between camera and multi-layer laser scanner for outdoor multi-sensorized vehicles. The proposed method is designed for intelligent vehicles within the autonomous navigation task where usually distances between sensor and targets become relevant for safety reasons, therefore high accuracy across different measures must be kept. The calibration procedure takes advantage of triangular shapes still present in scenarios, it recovers three virtual points as target pose in the laser and camera reference frames and then compute extrinsic information of each camera sensor with respect to a laser scanner by minimizing a geometric distance in the image space. To test algorithm correctness, and accuracy a set of simulations are used reporting absolute error results and solution convergence, then tests on robustness and reliability (i.e., outliers management) are based on a wide set of datasets acquired by VIAC prototypes.

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“…This approach can be performed in 3D as proposed by (Zhang and Pless, 2004). In this approach the main idea is to use a known pose of a calibration target in 3D and the calibration parameters can be estimated by solving an optimization problem to minimize the position error of the LIDAR data with respect to the calibration target in 3D (Kwak et al, 2011). Different indirect techniques have been proposed depending on simple targets, see for example (Kwak et al, 2011).…”

Section: Introductionmentioning

confidence: 99%

A New Automatic System Calibration of Multi-Cameras and Lidar Sensors

Hassanein¹,

Moussa²,

El-Sheimy³

2016

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:In the last few years, multi-cameras and LIDAR systems draw the attention of the mapping community. They have been deployed on different mobile mapping platforms. The different uses of these platforms, especially the UAVs, offered new applications and developments which require fast and accurate results. The successful calibration of such systems is a key factor to achieve accurate results and for the successful processing of the system measurements especially with the different types of measurements provided by the LIDAR and the cameras. The system calibration aims to estimate the geometric relationships between the different system components. A number of applications require the systems be ready for operation in a short time especially for disasters monitoring applications. Also, many of the present system calibration techniques are constrained with the need of special arrangements in labs for the calibration procedures. In this paper, a new technique for calibration of integrated LIDAR and multi-cameras systems is presented. The new proposed technique offers a calibration solution that overcomes the need for special labs for standard calibration procedures. In the proposed technique, 3D reconstruction of automatically detected and matched image points is used to generate a sparse imagesdriven point cloud then, a registration between the LIDAR generated 3D point cloud and the images-driven 3D point takes place to estimate the geometric relationships between the cameras and the LIDAR.. In the presented technique a simple 3D artificial target is used to simplify the lab requirements for the calibration procedure. The used target is composed of three intersected plates. The choice of such target geometry was to ensure enough conditions for the convergence of registration between the constructed 3D point clouds from the two systems. The achieved results of the proposed approach prove its ability to provide an adequate and fully automated calibration without sophisticated calibration arrangement requirements. The proposed technique introduces high potential for system calibration for many applications especially those with critical logistic and time constraints such as in disaster monitoring applications.

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“…These techniques can be classified into two main categories (Kwak et al, 2011). The first category uses a * Corresponding author direct search for the LIDAR beam within the image.…”

Section: Introductionmentioning

confidence: 99%

“…In this approach the main idea is to use a known pose of a calibration target in 3D and the calibration parameters can be estimated by solving an optimization problem to minimize the position error of the LIDAR data with respect to the calibration target in 3D (Kwak et al, 2011). Different indirect techniques have been proposed depending on simple targets, see for example (Kwak et al, 2011). However, these techniques require the collection of high number of images from different ranges which might not be always easy to achieve specially for time constrained applications.…”

Section: Introductionmentioning

confidence: 99%

A New Automatic System Calibration of Multi-Cameras and Lidar Sensors

Hassanein

¹

,

Moussa

²

,

El‐Sheimy

³

2016

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

View full text Add to dashboard Cite

ABSTRACT:In the last few years, multi-cameras and LIDAR systems draw the attention of the mapping community. They have been deployed on different mobile mapping platforms. The different uses of these platforms, especially the UAVs, offered new applications and developments which require fast and accurate results. The successful calibration of such systems is a key factor to achieve accurate results and for the successful processing of the system measurements especially with the different types of measurements provided by the LIDAR and the cameras. The system calibration aims to estimate the geometric relationships between the different system components. A number of applications require the systems be ready for operation in a short time especially for disasters monitoring applications. Also, many of the present system calibration techniques are constrained with the need of special arrangements in labs for the calibration procedures. In this paper, a new technique for calibration of integrated LIDAR and multi-cameras systems is presented. The new proposed technique offers a calibration solution that overcomes the need for special labs for standard calibration procedures. In the proposed technique, 3D reconstruction of automatically detected and matched image points is used to generate a sparse imagesdriven point cloud then, a registration between the LIDAR generated 3D point cloud and the images-driven 3D point takes place to estimate the geometric relationships between the cameras and the LIDAR.. In the presented technique a simple 3D artificial target is used to simplify the lab requirements for the calibration procedure. The used target is composed of three intersected plates. The choice of such target geometry was to ensure enough conditions for the convergence of registration between the constructed 3D point clouds from the two systems. The achieved results of the proposed approach prove its ability to provide an adequate and fully automated calibration without sophisticated calibration arrangement requirements. The proposed technique introduces high potential for system calibration for many applications especially those with critical logistic and time constraints such as in disaster monitoring applications.

show abstract

Extrinsic calibration of a single line scanning lidar and a camera

Cited by 55 publications

References 15 publications

Automated extrinsic laser and camera inter-calibration using triangular targets

Automated extrinsic laser and camera inter-calibration using triangular targets

A New Automatic System Calibration of Multi-Cameras and Lidar Sensors

A New Automatic System Calibration of Multi-Cameras and Lidar Sensors

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