Extrinsic parameter calibration of 2D LiDAR-camera using edge matching and removal of infrared cut filter

Deokkyu Kim; Sungho Kim

doi:10.1117/12.2518946

7 May 2019 Extrinsic parameter calibration of 2D LiDAR-camera using edge matching and removal of infrared cut filter

Deokkyu Kim, Sungho Kim

Proceedings Volume 11018, Signal Processing, Sensor/Information Fusion, and Target Recognition XXVIII; 110181B (2019) https://doi.org/10.1117/12.2518946
Event: SPIE Defense + Commercial Sensing, 2019, Baltimore, MD, United States

Abstract

Recently, autonomous driving based on multiple sensors has been studied actively in the field of automobiles and unmanned robots. Extrinsic parameter calibration is the first step to integrate the camera with Light Detection And Ranging (LiDAR). This paper proposes an extrinsic parameter calibration method using camera images and single 2D LiDAR points. The removal of infrared cut filter makes the line of laser scan points visible in the camera image. The scan line of the laser points on the calibration target is detected using edge matching in camera images, and the laser points are mapped to the coordinates of image with the initial value of the extrinsic parameters. We estimate the extrinsic parameters using edge matching and top-down method. The proposed method is verified by experiment according to the distance of the target.

Conference Presentation

Citation Download Citation

Deokkyu Kim and Sungho Kim "Extrinsic parameter calibration of 2D LiDAR-camera using edge matching and removal of infrared cut filter", Proc. SPIE 11018, Signal Processing, Sensor/Information Fusion, and Target Recognition XXVIII, 110181B (7 May 2019); https://doi.org/10.1117/12.2518946

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