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
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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
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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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
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