Details

Autor(en) / Beteiligte

• Ishikawa, Ryoichi
• Oishi, Takeshi
• Ikeuchi, Katsushi

Titel

LiDAR and Camera Calibration Using Motions Estimated by Sensor Fusion Odometry

Ist Teil von

• 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, p.7342-7349

Ort / Verlag

IEEE

Erscheinungsjahr

2018

Quelle

IEEE Xplore

Beschreibungen/Notizen

• This paper proposes a targetless and automatic camera-LiDAR calibration method. Our approach extends the hand-eye calibration framework to 2D-3D calibration. The scaled camera motions are accurately calculated using a sensor-fusion odometry method. We also clarify the suitable motions for our calibration method. Whereas other calibrations require the LiDAR reflectance data and an initial extrinsic parameter, the proposed method requires only the three-dimensional point cloud and the camera image. The effectiveness of the method is demonstrated in experiments using several sensor configurations in indoor and outdoor scenes. Our method achieved higher accuracy than comparable state-of-the-art methods.