论文标题
3D-LIDAR和相机的外部校准
Extrinsic Calibration of a 3D-LIDAR and a Camera
论文作者
论文摘要
这项工作通过利用平面表面指向到平面和平面边缘对后反射平面的几何限制，使用无标记的平面目标提出了3D激光镜头和投影摄像头之间的外部参数估计算法。提出的方法使用将平面板放在激光雷达和相机的公共视野中，使用了收集的数据。这些步骤包括，在激光镜头和相机框架中检测目标和目标边缘，匹配两种感应方式的检测到的平面和线，并最终求解由上述几何几何约束形成的成本函数，这些几何几何约束链接了在LIDAR和摄像机中使用非线性最小值的相机中检测到的特征。我们使用两个BASLER摄像机，即Velodyne VLP-32和Ouster OS1 LiDars对算法进行了广泛的验证。
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 constraints. The proposed method uses the data collected by placing the planar board at different poses in the common field of view of the LIDAR and the Camera. The steps include, detection of the target and the edges of the target in LIDAR and Camera frames, matching the detected planes and lines across both the sensing modalities and finally solving a cost function formed by the aforementioned geometric constraints that link the features detected in both the LIDAR and the Camera using non-linear least squares. We have extensively validated our algorithm using two Basler Cameras, Velodyne VLP-32 and Ouster OS1 LIDARs.
