Auto-calibration of Camera Intrinsics and Extrinsics using Lidar and Motion

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00388578" target="_blank" >RIV/68407700:21230/25:00388578 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/IROS60139.2025.11246666" target="_blank" >https://doi.org/10.1109/IROS60139.2025.11246666</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS60139.2025.11246666" target="_blank" >10.1109/IROS60139.2025.11246666</a>

Result language
angličtina
Original language name
Auto-calibration of Camera Intrinsics and Extrinsics using Lidar and Motion
Original language description
A novel camera autocalibration method is presented. Any camera model can be calibrated, and no calibration targets like checkerboards are used. The method requires the camera to be mounted on a lidar-equipped moving platform travelling through a structured environment along a known path. The primary reason for cross-modal camera calibration is not to solve the sensor fusion problem, but to tap the huge amount of accurate metric data points available from the lidar. The amount of measurements is easily four orders of magnitude higher than in checkerboard based methods. This leads to improved estimation accuracy, especially of higher-order distortion coefficients. In a multi-camera setup, the lidar additionally defines a common reference coordinate system for all cameras.Compared to the majority of published methods on camera-lidar autocalibration, (i) our calibration procedure relies on motion features, (ii) the hard-to-obtain-accurately lidar-lidar and lidar-image feature correspondences are not required, and (iii) both camera extrinsics and intrinsics, including complex distortion models, are autocalibrated. Experiments show that the calibration accuracy reaches or exceeds the accuracy of methods relying on calibration targets.
Czech name
—
Czech description
—

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)

Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISBN
979-8-3315-4393-8
ISSN
2153-0858
e-ISSN
2153-0866
Number of pages
8
Pages from-to
8741-8748
Publisher name
Institute of Electrical and Electronics Engineers
Place of publication
Beijing
Event location
Hangzhou
Event date
Oct 19, 2025
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—

Similar results(10)