Joint Calibration Based on Information Fusion of Lidar and Monocular Camera

Abstract

To solve the problem of joint calibration in multi-sensor information fusion, a joint calibration technique based on three-dimensional lidar point cloud data and two-dimensional gray image data is proposed. Firstly, by extracting the corner information of the gray image data, the two-dimensional coordinates of the corner were obtained, and the calibration of the monocular camera was completed by using the corner information, and its internal and external parameters were obtained. Then, by extracting the corner information of the point cloud data obtained by lidar, the corresponding corner points are matched. Finally, the rotation and translation matrix from lidar coordinate system to image coordinate system is generated to realize the joint calibration of lidar and camera.