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A Novel Calibration Board and Experiments for 3D LiDAR and Camera Calibration

Huaiyu Cai, Weisong Pang, Xiaodong Chen, Yi Wang, Haolin Liang
2020 Sensors  
Aiming at the problems of feature point calibration method of 3D light detection and ranging (LiDAR) and camera calibration that are calibration boards in various forms, incomplete information extraction  ...  methods and large calibration errors, a novel calibration board with local gradient depth information and main plane square corner information (BWDC) was designed.  ...  Acknowledgments: This work is sponsored by "Tianjin Science and Technology Plan Project (No.17ZXGGX00140)". Conflicts of Interest: The authors declare no conflicts of interest.  ... 
doi:10.3390/s20041130 pmid:32092995 pmcid:PMC7070607 fatcat:sav6zkxbpzg2havcy6hesnxqwm

An Extrinsic Calibration Tool for Radar, Camera and Lidar

Joris Domhof, Kooij Julian F. P., Kooij Dariu M.
2019 2019 International Conference on Robotics and Automation (ICRA)  
We present a novel open-source tool for extrinsic calibration of radar, camera and lidar.  ...  The experiments further evaluate how the number of calibration boards affect calibration performance, and robustness against different levels of zero mean Gaussian noise.  ...  ACKNOWLEDGEMENT The work is supported by NWO TTW under the project STW#13434 Standardized Self-Diagnostic Sensing Systems for Highly Automated Driving.  ... 
doi:10.1109/icra.2019.8794186 dblp:conf/icra/DomhofKK19 fatcat:i22lpuepw5fu5be3xnab6lu7uu

Calibration between Color Camera and 3D LIDAR Instruments with a Polygonal Planar Board

Yoonsu Park, Seokmin Yun, Chee Won, Kyungeun Cho, Kyhyun Um, Sungdae Sim
2014 Sensors  
The goal of this paper is to improve the calibration accuracy between a camera and a 3D LIDAR.  ...  Calibration between color camera and 3D Light Detection And Ranging (LIDAR) equipment is an essential process for data fusion.  ...  Park and S. Yun contributed to the algorithm and the experiments. K. Cho, K. Um, and S. Sim contributed to the problem formulation and algorithm verification.  ... 
doi:10.3390/s140305333 pmid:24643005 pmcid:PMC4003995 fatcat:xwhh57jzsfb4rnfciomcxglvny

LiDAR-Camera Calibration using 3D-3D Point correspondences [article]

Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan, K.M. Krishna
2017 arXiv   pre-print
We propose a novel pipeline and experimental setup to find accurate rigid-body transformation for extrinsically calibrating a LiDAR and a camera.  ...  The pipeling uses 3D-3D point correspondences in LiDAR and camera frame and gives a closed form solution.  ...  We propose a novel pipeline and experimental setup to find accurate rigid-body transformation for extrinsically calibrating a LiDAR and a camera.  ... 
arXiv:1705.09785v1 fatcat:hutz6xbozrdudgpcruuiw22lpy

Sensor and Sensor Fusion Technology in Autonomous Vehicles: A Review

De Jong Yeong, Gustavo Velasco-Hernandez, John Barry, Joseph Walsh
2021 Sensors  
This paper evaluates the capabilities and the technical performance of sensors which are commonly employed in autonomous vehicles, primarily focusing on a large selection of vision cameras, LiDAR sensors  ...  We present an overview of the three primary categories of sensor calibration and review existing open-source calibration packages for multi-sensor calibration and their compatibility with numerous commercial  ...  of the 3D LiDAR and a stereo camera using a marker-less planar calibration target.  ... 
doi:10.3390/s21062140 pmid:33803889 pmcid:PMC8003231 fatcat:j52leqrvwnhu5brd7lxgozvwya

Calibration of Camera and Flash LiDAR System with a Triangular Pyramid Target

Zean Bu, Changku Sun, Peng Wang, Hang Dong
2021 Applied Sciences  
To address the problems of large errors and tedious operation, we present a novel method to conduct the calibration between light detection and ranging (LiDAR) and camera.  ...  One capture of camera and LiDAR is sufficient for calibration, and errors are reduced by minimizing the distance between points and planes.  ...  The former designs a novel 3D calibration board with local gradient depth information and main plane square corner information(BWDC), while the latter uses a polygonal planar board.  ... 
doi:10.3390/app11020582 fatcat:tk344mo3rjh6jiwfnlknisrh6q

Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups [article]

Jorge Beltrán, Carlos Guindel, Fernando García
2021 arXiv   pre-print
We present a method to calibrate the extrinsic parameters of any pair of sensors involving LiDARs, monocular or stereo cameras, of the same or different modalities.  ...  Most sensor setups for onboard autonomous perception are composed of LiDARs and vision systems, as they provide complementary information that improves the reliability of the different algorithms necessary  ...  . • It also provides a general framework that enables the extrinsic calibration of any combination of camera and LiDAR sensors; not only camera-LiDAR setups but also camera-camera and LiDAR-LiDAR combinations  ... 
arXiv:2101.04431v1 fatcat:nqhu5xsbx5c5xaxvkieoueakma

Automatic Extrinsic Calibration of 3D LIDAR and Multi-Cameras Based on Graph Optimization

Jinshun Ou, Panling Huang, Jun Zhou, Yifan Zhao, Lebin Lin
2022 Sensors  
This paper proposes a 3D LIDAR-to-camera automatic calibration framework based on graph optimization.  ...  To test this framework, a multi-sensor system is formed using a mobile robot equipped with LIDAR, monocular and binocular cameras, and the pairwise calibration of LIDAR with two cameras is evaluated quantitatively  ...  Acknowledgments: The authors thank the researchers of the methods cited in this article for making their work available to the public and acknowledge the valuable suggestions from the peer reviewers.  ... 
doi:10.3390/s22062221 pmid:35336392 pmcid:PMC8954836 fatcat:tll24kovxfe4zneyoopfzd6b7e

3D LIDAR-Camera Extrinsic Calibration Using an Arbitrary Trihedron

Xiaojin Gong, Ying Lin, Jilin Liu
2013 Sensors  
This paper presents a novel way to address the extrinsic calibration problem for a system composed of a 3D LIDAR and a camera.  ...  The algorithm is validated on both simulated and real data, as well as a 3D reconstruction application.  ...  Acknowledgements This research work is partially supported by the National Natural Science Foundation of China via grants 61001171, 60534070, 90820306, and Chinese Universities Scientific Fund.  ... 
doi:10.3390/s130201902 pmid:23377190 pmcid:PMC3649407 fatcat:2igmybsnbjg7fbpl5ktnbm4x7i

An Interactive LiDAR to Camera Calibration [article]

Yecheng Lyu, Lin Bai, Mahdi Elhousni, Xinming Huang
2019 arXiv   pre-print
This toolbox automatically detects the corner of a planer board from a sequence of LiDAR frames and provides a convenient user interface for annotating the corresponding pixels on camera frames.  ...  Recent progress in the automated driving system (ADS) and advanced driver assistant system (ADAS) has shown that the combined use of 3D light detection and ranging (LiDAR) and the camera is essential for  ...  CONCLUSIONS In this paper, we propose a novel and accurate approach for LiDAR-to-camera system calibration.  ... 
arXiv:1903.02122v1 fatcat:54uvwvshwffple444znzk75meu

Accurate Calibration of Multi-LiDAR-Multi-Camera Systems

Zoltán Pusztai, Iván Eichhardt, Levente Hajder
2018 Sensors  
It contains an iterative refinement step, which is proven to converge to the box in the LiDAR point cloud, and can be used for system calibration containing multiple LiDARs and cameras.  ...  This paper investigates the extrinsic calibration of two frequently-applied sensors: the camera and Light Detection and Ranging (LiDAR). The calibration can be done with the help of ordinary boxes.  ...  The polygonal and KITTI calibrations use boards for the calibration, while the multi-camera and the proposed one use a single box.  ... 
doi:10.3390/s18072139 pmid:29970844 pmcid:PMC6069280 fatcat:qb5tywcvhjfoxo2klywgqok5le

Four-Dimensional Plant Phenotyping Model Integrating Low-Density LiDAR Data and Multispectral Images

Manuel García Rincón, Diego Mendez, Julian D. Colorado
2022 Remote Sensing  
match the 3D LiDAR point-cloud data with the corresponding multispectral information, aiming for the consolidation of four-dimensional plant models.  ...  High-throughput platforms for plant phenotyping usually demand expensive high-density LiDAR devices with computational intense methods for characterizing several morphological variables.  ...  , thanks to Eliel Petro for his feedback during this project.  ... 
doi:10.3390/rs14020356 fatcat:wqxjrbrajrhltcrakgxgbqqllq

Accurate Calibration of LiDAR-Camera Systems Using Ordinary Boxes

Zoltan Pusztai, Levente Hajder
2017 2017 IEEE International Conference on Computer Vision Workshops (ICCVW)  
This paper deals with the calibration of a visual system, consisting of RGB cameras and 3D Light Detection And Ranging (LiDAR) sensors.  ...  We propose a novel and accurate calibration method using simple cardboard boxes with known sizes.  ...  [9] introduced a method to calibrate a LiDAR-camera pair taking only one measurement by the LiDAR and a single image by the camera.  ... 
doi:10.1109/iccvw.2017.53 dblp:conf/iccvw/PusztaiH17 fatcat:cg34rzwkh5d2haypso34yiq3u4

LiDAR-Camera Calibration under Arbitrary Configurations: Observability and Methods [article]

Bo Fu, Yue Wang, Xiaqing Ding, Yanmei Jiao, Li Tang, Rong Xiong
2019 arXiv   pre-print
LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera.  ...  In this paper, we propose a novel LiDAR-camera calibration method aiming to eliminate these two constraints.  ...  In this paper, we propose a novel LiDAR-camera calibration method aiming to eliminate these two constraints.  ... 
arXiv:1903.06141v2 fatcat:4q5a2p72fjcklg4pu4itrgcefm

LOW COST AND EFFICIENT 3D INDOOR MAPPING USING MULTIPLE CONSUMER RGB-D CAMERAS

C. Chen, B. S. Yang, S. Song
2016 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
between the colour and infrared camera inside each Kinect are calibrated using a chess board pattern; 3, the external parameters between every Kinect are firstly calculated using a pre-set calibration  ...  To find an efficient and low cost way to solve the 3D indoor mapping, in this paper, we present an indoor mapping suite prototype that is built upon a novel calibration method which calibrates internal  ...  Point cloud captured by out sensor array (left) and LiDAR (right) CONCLUSION A novel method using multi consumer-level depth cameras for indoor data collection was proposed in this study, and experiment  ... 
doi:10.5194/isprsarchives-xli-b1-169-2016 fatcat:swyxqh5tdfc55nf5h6gofqcuhi
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