Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Jae-Yeul | - |
dc.contributor.author | Ha, Jong-Eun | - |
dc.date.accessioned | 2024-02-15T14:10:14Z | - |
dc.date.available | 2024-02-15T14:10:14Z | - |
dc.date.created | 2023-08-17 | - |
dc.date.issued | 2023-07 | - |
dc.identifier.issn | 2169-3536 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/47946 | - |
dc.description.abstract | Extrinsic calibration of a 2D camera and a 2D LiDAR is necessary to fuse information from two sensors by representing the information under the same frame. Various geometric constraints such as point-plane, point-line, and point-point are used for the extrinsic calibration. Usually, these require a manual step, including control points selection for camera calibration and LiDAR points. We propose a new algorithm for automatic extrinsic calibration with point-line correspondences. A calibration structure with two perpendicular planes having a chessboard on both sides is used for the extrinsic calibration. First, we use predefined colors at specific locations on a chessboard to quickly find the origin of the coordinate system. Second, we robustly detect three control points on LiDAR raw data using a geometric constraint that two end points among three control points should lie on the same line. The initial linear solution is obtained by using a point-line constraint. Finally, it is refined by nonlinear minimization, which gives a 15.3% improvement compared to the linear solution. Experimental results show the feasibility of the proposed algorithm. Author | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers | - |
dc.title | Automatic Extrinsic Calibration of a Camera and a 2D LiDAR with Point-Line Correspondences | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/ACCESS.2023.3298055 | - |
dc.identifier.scopusid | 2-s2.0-85165881871 | - |
dc.identifier.bibliographicCitation | IEEE Access, v.11, pp.76904 - 76912 | - |
dc.description.isOpenAccess | TRUE | - |
dc.subject.keywordAuthor | Extrinsic calibration | - |
dc.subject.keywordAuthor | sensor fusion | - |
dc.subject.keywordAuthor | camera | - |
dc.subject.keywordAuthor | LiDAR | - |
dc.subject.keywordPlus | HIGH-RESOLUTION LIDAR | - |
dc.citation.endPage | 76912 | - |
dc.citation.startPage | 76904 | - |
dc.citation.title | IEEE Access | - |
dc.citation.volume | 11 | - |