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SOIC: Semantic Online Initialization and Calibration for LiDAR and Camera [article]

Weimin Wang, Shohei Nobuhara, Ryosuke Nakamura, Ken Sakurada
2020 arXiv   pre-print
This paper presents a novel semantic-based online extrinsic calibration approach, SOIC (so, I see), for Light Detection and Ranging (LiDAR) and camera sensors.  ...  Previous online calibration methods usually need prior knowledge of rough initial values for optimization.  ...  CONCLUSION In this paper, we presented a novel semantic online initialization calibration method, SOIC, that can estimate the extrinsic calibration parameters between LiDAR and camera sensors.  ... 
arXiv:2003.04260v1 fatcat:co7nubfmkrfyrou2ahuaf7dyua

SemCal: Semantic LiDAR-Camera Calibration using Neural MutualInformation Estimator [article]

Peng Jiang, Philip Osteen, Srikanth Saripalli
2021 arXiv   pre-print
This paper proposes SemCal: an automatic, targetless, extrinsic calibration algorithm for a LiDAR and camera system using semantic information.  ...  We also introduce a semantic-based initial calibration method using 2D MI-based image registration and Perspective-n-Point (PnP) solver.  ...  Semantic understanding is essential for autonomous systems, and several methods have been proposed to utilize semantic information to calibrate LiDAR and camera [1] [3] [2] , [20] .  ... 
arXiv:2109.10270v1 fatcat:dkvd7ms3pvfjdmeohff6xsdxx4

CFNet: LiDAR-Camera Registration Using Calibration Flow Network [article]

Xudong Lv, Boya Wang, Ziwen Dou, Dong Ye, Shuo Wang
2021 arXiv   pre-print
As an essential procedure of data fusion, LiDAR-camera calibration is critical for autonomous vehicles and robot navigation.  ...  This paper proposed an online LiDAR-camera extrinsic calibration algorithm that combines the DL and the geometry methods.  ...  In SOIC, 2D Semantic Centroid (2D-SC) and 3D Semantic Centroid (3D-SC) are calculated using semantic segmentation of image and LiDAR point cloud.  ... 
arXiv:2104.11907v1 fatcat:zbxotypuebdb3ehpw4hz4ydysy

CFNet: LiDAR-Camera Registration Using Calibration Flow Network

Xudong Lv, Shuo Wang, Dong Ye
2021 Sensors  
As an essential procedure of data fusion, LiDAR-camera calibration is critical for autonomous vehicles and robot navigation.  ...  In this paper, we propose a novel CNN-based LiDAR-camera extrinsic calibration algorithm named CFNet.  ...  SOIC: Semantic Online Initialization and Calibration for LiDAR and Camera. arXiv 2020, arXiv:2003.04260. 44. Zhu, Y.; Li, C.; Zhang, Y.  ... 
doi:10.3390/s21238112 pmid:34884116 fatcat:pl3oc2dlurfrja35h7caqhc4yy

CalibDNN: Multimodal Sensor Calibration for Perception Using Deep Neural Networks [article]

Ganning Zhao, Jiesi Hu, Suya You, C.-C. Jay Kuo
2021 arXiv   pre-print
We propose a novel deep learning-driven technique (CalibDNN) for accurate calibration among multimodal sensor, specifically LiDAR-Camera pairs.  ...  Current perception systems often carry multimodal imagers and sensors such as 2D cameras and 3D LiDAR sensors.  ...  SOIC, proposed by Wang et al., 16 employed semantic centroids to convert the initialization problem to the PnP problem.  ... 
arXiv:2103.14793v1 fatcat:fum7izb4uzewze76yk5f2bhkxu