相关论文: On Accurate and Robust Estimation of 3D and 2D Cir…

Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…

Advances in autonomous driving are inseparable from sensor fusion. Heterogeneous sensors are widely used for sensor fusion due to their complementary properties, with radar and camera being the most equipped sensors. Intrinsic and extrinsic…

This paper presents an open source LiDAR-camera calibration toolbox that is general to LiDAR and camera projection models, requires only one pairing of LiDAR and camera data without a calibration target, and is fully automatic. For…

In this paper we perform an experimental comparison of three different target based 3D-LIDAR camera calibration algorithms. We briefly elucidate the mathematical background behind each method and provide insights into practical aspects like…

We present a novel target-based lidar-camera extrinsic calibration methodology that can be used for non-overlapping field of view (FOV) sensors. Contrary to previous work, our methodology overcomes the non-overlapping FOV challenge using a…

LIDAR and RADAR are two commonly used sensors in autonomous driving systems. The extrinsic calibration between the two is crucial for effective sensor fusion. The challenge arises due to the low accuracy and sparse information in RADAR…

This work presents an extrinsic parameter estimation algorithm between a 3D LIDAR and a Projective Camera using a marker-less planar target, by exploiting Planar Surface Point to Plane and Planar Edge Point to back-projected Plane geometric…

LiDAR-camera systems have become increasingly popular in robotics recently. A critical and initial step in integrating the LiDAR and camera data is the calibration of the LiDAR-camera system. Most existing calibration methods rely on…

With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make…

Current traditional methods for LiDAR-camera extrinsics estimation depend on offline targets and human efforts, while learning-based approaches resort to iterative refinement for calibration results, posing constraints on their…

This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-state LiDARs by leveraging an efficient and reliable edge…

Camera calibration using planar targets has been widely favored, and two types of control points have been mainly considered as measurements: the corners of the checkerboard and the centroid of circles. Since a centroid is derived from…

Accurate extrinsic calibration of multiple LiDARs is crucial for improving the foundational performance of three-dimensional (3D) map reconstruction systems. This paper presents a novel targetless extrinsic calibration framework for…

This letter proposes an extrinsic calibration approach for a pair of monocular camera and prism-spinning solid-state LiDAR. The unique characteristics of the point cloud measured resulting from the flower-like scanning pattern is first…

Camera calibration is a crucial technique which significantly influences the performance of many robotic systems. Robustness and high precision have always been the pursuit of diverse calibration methods. State-of-the-art calibration…

This manuscript provides a new framework for calibration of optical instruments, in particular mobile cameras, using large-scale circular black and white target fields. New methods were introduced for (i) matching targets between images;…

In this paper, we present a user-friendly LiDAR-camera calibration toolkit that is compatible with various LiDAR and camera sensors and requires only a single pair of laser points and a camera image in targetless environments. Our approach…

This paper proposes a new extrinsic calibration of kaleidoscopic imaging system by estimating normals and distances of the mirrors. The problem to be solved in this paper is a simultaneous estimation of all mirror parameters consistent…

This paper proposes an automated method to obtain the extrinsic calibration parameters between a camera and a 3D lidar with as low as 16 beams. We use a checkerboard as a reference to obtain features of interest in both sensor frames. The…

This paper presents a novel method for fully automatic and convenient extrinsic calibration of a 3D LiDAR and a panoramic camera with a normally printed chessboard. The proposed method is based on the 3D corner estimation of the chessboard…