Analytic Plane Covariances Construction for Precise Planarity-based Extrinsic Calibration of Camera and LiDAR

Koo, Gunhee; Kang, Jaehyeon; Jang, Bumchul; Doh, Nakju Lett

doi:10.1109/icra40945.2020.9197149

Cited by 16 publications

(1 citation statement)

References 19 publications

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“…The extrinsic calibration between LiDAR and camera could be mainly divided into target-based and targetless methods. In target-based approaches, the geometric features, e.g., edges and surfaces, are extracted from natural geometric solids [16]- [18] or chessboard [19,20] using intensity and color information. These features are matched either automatically or manually and are solved with general non-linear optimization tools.…”

Section: B Lidar-camera Extrinsic Calibrationmentioning

confidence: 99%

Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras

Liu

Yuan

Zhang

2021

Preprint

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In this letter, we propose a fast, accurate, and targetless extrinsic calibration method for multiple LiDARs and cameras based on adaptive voxelization. On the theory level, we incorporate the LiDAR extrinsic calibration with the bundle adjustment method. We derive the second-order derivatives of the cost function w.r.t. the extrinsic parameter to accelerate the optimization. On the implementation level, we apply the adaptive voxelization to dynamically segment the LiDAR point cloud into voxels with non-identical sizes, and reduce the computation time in the process of feature correspondence matching. The robustness and accuracy of our proposed method have been verified with experiments in outdoor test scenes under multiple LiDAR-camera configurations.

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