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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

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

Projekt

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Návaznosti

N - Vyzkumna aktivita podporovana z neverejnych zdroju

Rok uplatnění

2025

Kód důvěrnosti údajů

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

Název statě ve sborníku

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISBN

979-8-3315-4393-8

ISSN

2153-0858

e-ISSN

2153-0866

Počet stran výsledku

8

Strana od-do

8741-8748

Název nakladatele

Institute of Electrical and Electronics Engineers

Místo vydání

Beijing

Místo konání akce

Hangzhou

Datum konání akce

19. 10. 2025

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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