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Reflectance Intensity Assisted Automatic and Accurate Extrinsic Calibration of 3D LiDAR and Panoramic Camera Using a Printed Chessboard

Weimin Wang, Ken Sakurada, Nobuo Kawaguchi
2017 Remote Sensing  
This paper presents a novel method for fully automatic and convenient extrinsic calibration of a 3D LiDAR and a panoramic camera with a normally printed chessboard.  ...  Once the corners of the chessboard in the 3D point cloud are estimated, the extrinsic calibration of the two sensors is converted to a 3D-2D matching problem.  ...  Weimin Wang and Ken Sakurada contributed to the improvement of the algorithm and the discussion of the results.  ... 
doi:10.3390/rs9080851 fatcat:76cwbjdkajd5jhauhjej2x5ydi

3D Indoor Mobile Mapping using Multi-Sensor Autonomous Robot [article]

Navid Mostofi, University Of Calgary, University Of Calgary, Naser El-Sheimy
In the second scenario RGB-D sensor is used as an aiding sensor for Velodyne HDL-32 LiDAR to map a large corridor of size (33x11 meter).  ...  The results shows that the solution of single RGB-D sensor is accurate enough for mapping a small room; however, for large corridor the result of RGB-D aided Velodyne HDL-32 generated more accurate and  ...  I should say that I am very happy that I involved in a project that force me to dig into different fields and gain valuable knowledge.  ... 
doi:10.11575/prism/24622 fatcat:opqaxjajcjgethpozlntlivtyy