Modules for Velodyne 3D LiDAR Calibration and Data Processing

Authors:Veµas Martin, ©paněl Michal, Materna Zdeněk
Type:software
Created:2014
Licence:required - no fee
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+Type Name Title Size Last modified
iconbut_velodyne.zip6,8 MB2014-07-09 16:06:54
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Keywords:Camera, LiDAR, Velodyne, calibration, 3D marker, point cloud, road detection, obstacle detection
Description:
This software contains several ROS (Robot Operating System) modules for processing data from Velodyne 3D LiDAR, e.g. for road and obstacle detection. One of the modules implements a new pipeline for calibration, i.e. mutual pose and orientation estimation, of the camera and LiDAR sensor using a coarse to fine approach. The calibration benefits from a novel 3D marker which can be robustly detected in both the camera image and the LiDAR scan. The method requires only a single pair of camera-LiDAR frames for estimating large sensors displacement. Consequent refinement step searches for more accurate calibration in a small subspace of calibration parameters.
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Distributed under LGPL version 3 open source license.

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