Conference paper

VEĽAS Martin, ŠPANĚL Michal, MATERNA Zdeněk and HEROUT Adam. Calibration of RGB Camera With Velodyne LiDAR. In: WSCG 2014 Communication Papers Proceedings. Plzeň: Union Agency, 2014, pp. 135-144. ISBN 978-80-86943-71-8. ISSN 1213-6972. Available from: http://wscg.zcu.cz/DL/wscg_DL.htm
Publication language:english
Original title:Calibration of RGB Camera With Velodyne LiDAR
Title (cs):Automatická kalibrace RGB kamery a LiDARu Velodyne
Pages:135-144
Proceedings:WSCG 2014 Communication Papers Proceedings
Conference:21st International Conference on Computer Graphics, Visualization and Computer Vision 2013
Place:Plzeň, CZ
Year:2014
URL:http://wscg.zcu.cz/DL/wscg_DL.htm
ISBN:978-80-86943-71-8
Journal:Journal of WSCG, Vol. 2014, No. 22, Plzeň, CZ
ISSN:1213-6972
Publisher:Union Agency
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Keywords
Camera, LiDAR, Velodyne, calibration, marker
Annotation
Calibration of the LiDAR sensor with RGB camera finds its usage in many application fields from enhancing image classification to the environment perception and mapping. This paper presents a pipeline for mutual pose and orientation estimation of the mentioned sensors using a coarse to fine approach. Previously published methods use multiple views of a known chessboard marker for computing the calibration parameters, or they are limited to the calibration of the sensors with a small mutual displacement only. Our approach presents a novel 3D marker for coarse calibration which can be robustly detected in both the camera image and the LiDAR scan. It also requires only a single pair of camera-LiDAR frames for estimating large sensors displacement. Consequent refinement step searches for more accurate calibration in small subspace of calibration parameters. The paper also presents a novel way for evaluation of the calibration precision using projection error.
BibTeX:
@INPROCEEDINGS{
   author = {Martin Ve{\'{l}}as and Michal {\v{S}}pan{\v{e}}l and
	Zden{\v{e}}k Materna and Adam Herout},
   title = {Calibration of RGB Camera With Velodyne LiDAR},
   pages = {135--144},
   booktitle = {WSCG 2014 Communication Papers Proceedings},
   journal = {Journal of WSCG},
   volume = {2014},
   number = {22},
   year = {2014},
   location = {Plze{\v{n}}, CZ},
   publisher = {Union Agency},
   ISBN = {978-80-86943-71-8},
   ISSN = {1213-6972},
   language = {english},
   url = {http://www.fit.vutbr.cz/research/view_pub.php?id=10578}
}

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