Journal
2019 IEEE INTERNATIONAL CONFERENCE ON IMAGE PROCESSING (ICIP)
Volume -, Issue -, Pages 1317-1321Publisher
IEEE
DOI: 10.1109/icip.2019.8804299
Keywords
LIDAR; camera; calibration
Categories
Funding
- National Research, Development and Innovation Fund [K-120233, KH-125681, KH-126688]
- Szechenyi 2020 Program [EFOP-3.6.2-16-2017-00013, 3.6.3 VEKOP-16-2017-00002]
- New National Excellence Program of the Ministry of Human Capacities [UNKP-18-3]
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In this paper we propose an end-to-end, automatic, online camera-LIDAR calibration approach, for application in self driving vehicle navigation. The main idea is to connect the image domain and the 3D space by generating point clouds from camera data while driving, using a structure from motion (SfM) pipeline, and use it as the basis for registration. As a core step of the algorithmwe introduce an object level alignment to transform the generated and captured point clouds into a common coordinate system. Finally, we calculate the correspondences between the 2D image domain and the 3D LIDAR point clouds, to produce the registration. We evaluated the method in various different real life traffic scenarios.
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