论文标题
L2E：对激光雷达和事件摄像头的6多型外部校准的事件激光
L2E: Lasers to Events for 6-DoF Extrinsic Calibration of Lidars and Event Cameras
论文作者
论文摘要
随着神经形态技术的成熟，其应用于机器人技术，自动驾驶汽车系统已成为积极研究的领域。特别是，事件摄像机已成为低功率和潜伏期应用程序中基于框架的摄像机的引人注目的替代方案。为了使事件摄像机能够在感知任务中与LiDAR这样的主食传感器一起操作，我们提出了事件摄像机和LIDARS之间的直接，时间耦合的外部校准方法。利用高动态范围，高时间分辨率和事件摄像机的低延迟操作直接注册LIDAR激光返回，从而允许基于信息的相关方法优化两个传感器之间的6DOF外部校准。本文介绍了事件摄像机和激光镜头之间的第一种直接校准方法，从而消除了对基于框架的相机中介机构和/或高度准确的手动测量的依赖性。
As neuromorphic technology is maturing, its application to robotics and autonomous vehicle systems has become an area of active research. In particular, event cameras have emerged as a compelling alternative to frame-based cameras in low-power and latency-demanding applications. To enable event cameras to operate alongside staple sensors like lidar in perception tasks, we propose a direct, temporally-decoupled extrinsic calibration method between event cameras and lidars. The high dynamic range, high temporal resolution, and low-latency operation of event cameras are exploited to directly register lidar laser returns, allowing information-based correlation methods to optimize for the 6-DoF extrinsic calibration between the two sensors. This paper presents the first direct calibration method between event cameras and lidars, removing dependencies on frame-based camera intermediaries and/or highly-accurate hand measurements.
