TY - GEN
T1 - Extrinsic calibration between a stereo system and a 3D LIDAR
AU - Zhai, Yanwu
AU - Feng, Haibo
AU - He, Jia
AU - Li, Enbo
AU - Zhang, Songyuan
AU - Fu, Yili
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - As the robot gradually develops from indoor to outdoor, multi-sensor fusion is increasingly being applied to the field of robot perception. Among them, LiDAR and binocular sensors are most widely used. Robots use the complementary and redundant data they provide to perform environmental perception and implement certain functions of the robot, such as SLAM, autonomous obstacle avoidance and so on. However, the data obtained by each sensor are relative to its own coordinate system. Data must be converted to a unified coordinate system before data fusion. Therefore, the calibration of the transformation among sensors is the first problem to be solved in data fusion. Moreover, the accuracy of calibration is directly related to the effect of data fusion. Therefore the calibration between sensors is very important and necessary. In this paper, we propose a novel method to find accurate rigid-body transformation for the extrinsic calibration of a 3D LiDAR and a stereo cameras, using two Aruco calibration boards. Also the validity of the algorithm is demonstrated by some experiments.
AB - As the robot gradually develops from indoor to outdoor, multi-sensor fusion is increasingly being applied to the field of robot perception. Among them, LiDAR and binocular sensors are most widely used. Robots use the complementary and redundant data they provide to perform environmental perception and implement certain functions of the robot, such as SLAM, autonomous obstacle avoidance and so on. However, the data obtained by each sensor are relative to its own coordinate system. Data must be converted to a unified coordinate system before data fusion. Therefore, the calibration of the transformation among sensors is the first problem to be solved in data fusion. Moreover, the accuracy of calibration is directly related to the effect of data fusion. Therefore the calibration between sensors is very important and necessary. In this paper, we propose a novel method to find accurate rigid-body transformation for the extrinsic calibration of a 3D LiDAR and a stereo cameras, using two Aruco calibration boards. Also the validity of the algorithm is demonstrated by some experiments.
UR - https://www.scopus.com/pages/publications/85079064506
U2 - 10.1109/ROBIO49542.2019.8961734
DO - 10.1109/ROBIO49542.2019.8961734
M3 - 会议稿件
AN - SCOPUS:85079064506
T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
SP - 266
EP - 271
BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Y2 - 6 December 2019 through 8 December 2019
ER -