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Calibration of RGB Camera With Velodyne LiDAR

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F14%3APU111963" target="_blank" >RIV/00216305:26230/14:PU111963 - isvavai.cz</a>

  • Result on the web

    <a href="http://wscg.zcu.cz/DL/wscg_DL.htm" target="_blank" >http://wscg.zcu.cz/DL/wscg_DL.htm</a>

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    Calibration of RGB Camera With Velodyne LiDAR

  • Original language description

    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.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Result continuities

  • Project

    Result was created during the realization of more than one project. More information in the Projects tab.

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2014

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    WSCG 2014 Communication Papers Proceedings

  • ISBN

    978-80-86943-71-8

  • ISSN

    1213-6972

  • e-ISSN

    1213-6964

  • Number of pages

    10

  • Pages from-to

    135-144

  • Publisher name

    Union Agency

  • Place of publication

    Plzeň

  • Event location

    Plzeň

  • Event date

    Jun 24, 2013

  • Type of event by nationality

    EUR - Evropská akce

  • UT code for WoS article