Targetless Calibration of a LiDAR - Perspective Camera Pair
Abstract
A novel method is proposed for the calibration of a camera - 3D lidar pair without the use of any special calibration pattern or point correspondences. The proposed method has no specific assumption about the data source: plain depth information is expected from the lidar scan and a simple perspective camera is used for the 2D images. The calibration is solved as a 2D-3D registration problem using a minimum of one (for extrinsic) or two (for intrinsic-extrinsic) planar regions visible in both cameras. The registration is then traced back to the solution of a non-linear system of equations which directly provides the calibration parameters between the bases of the two sensors. The method has been tested on a large set of synthetic lidar-camera image pairs as well as on real data acquired in outdoor environment.
Cite
Text
Tamas and Kato. "Targetless Calibration of a LiDAR - Perspective Camera Pair." IEEE/CVF International Conference on Computer Vision Workshops, 2013. doi:10.1109/ICCVW.2013.92Markdown
[Tamas and Kato. "Targetless Calibration of a LiDAR - Perspective Camera Pair." IEEE/CVF International Conference on Computer Vision Workshops, 2013.](https://mlanthology.org/iccvw/2013/tamas2013iccvw-targetless/) doi:10.1109/ICCVW.2013.92BibTeX
@inproceedings{tamas2013iccvw-targetless,
title = {{Targetless Calibration of a LiDAR - Perspective Camera Pair}},
author = {Tamas, Levente and Kato, Zoltan},
booktitle = {IEEE/CVF International Conference on Computer Vision Workshops},
year = {2013},
pages = {668-675},
doi = {10.1109/ICCVW.2013.92},
url = {https://mlanthology.org/iccvw/2013/tamas2013iccvw-targetless/}
}