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 relative transformation between the two sensors is calibrated via a nonlinear least squares (NLS) problem, which is formulated in terms of the geometric constraints associated with a trihedral object. Precise initial estimates of NLS are obtained by dividing it into two sub-problems that are solved individually. With the precise initializations, the calibration
more » ... eters are further refined by iteratively optimizing the NLS problem. The algorithm is validated on both simulated and real data, as well as a 3D reconstruction application. Moreover, since the trihedral target used for calibration can be either orthogonal or not, it is very often present in structured environments, making the calibration convenient.
doi:10.3390/s130201902 pmid:23377190 pmcid:PMC3649407 fatcat:2igmybsnbjg7fbpl5ktnbm4x7i