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:
Publication language:english
Original title:Calibration of RGB Camera With Velodyne LiDAR
Title (cs):Automatická kalibrace RGB kamery a LiDARu Velodyne
Proceedings:WSCG 2014 Communication Papers Proceedings
Conference:21st International Conference on Computer Graphics, Visualization and Computer Vision 2013
Place:Plzeň, CZ
Journal:Journal of WSCG, Vol. 2014, No. 22, Plzeň, CZ
Publisher:Union Agency
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Camera, LiDAR, Velodyne, calibration, marker
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.
   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 = {}

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