3D extrinsic joint calibration of 3D-Flash-LiDAR and camera system

Zean Bu; Changku Sun; Peng Wang; Hang Dong

doi:10.1117/12.2541112

12 March 2020 3D extrinsic joint calibration of 3D-Flash-LiDAR and camera system

Zean Bu, Changku Sun, Peng Wang, Hang Dong

Proceedings Volume 11439, 2019 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Systems; 1143906 (2020) https://doi.org/10.1117/12.2541112
Event: 2019 International Conference on Optical Instruments and Technology, 2019, Beijing, China

Abstract

Recent years, people pay great attention to the fusion of different kinds of sensors include camera, radar, LiDAR and so on. Since each sensor has its own advantage and disadvantage in automatic drive and obstacle detection, the fusion of sensors is more robust and reliable. In this paper, we present a novel target calibration of LiDAR-camera system. We use a 3D Flash LiDAR which has a resolution of 320×240, much cheaper and more reliable than Scanning LiDAR, and we use the camera which has a resolution of 1280×1024. We propose a novel target calibration method. The 3D target can provide both geometric features and visual features. This method is fast, easy to estimate all the six parameters of the extrinsic calibration. Our experiments validate our method and show that it achieves good accuracy.

Citation Download Citation

Zean Bu, Changku Sun, Peng Wang, and Hang Dong "3D extrinsic joint calibration of 3D-Flash-LiDAR and camera system", Proc. SPIE 11439, 2019 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Systems, 1143906 (12 March 2020); https://doi.org/10.1117/12.2541112

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