期刊
2019 IEEE INTERNATIONAL CONFERENCE ON IMAGE PROCESSING (ICIP)
卷 -, 期 -, 页码 1317-1321出版社
IEEE
DOI: 10.1109/icip.2019.8804299
关键词
LIDAR; camera; calibration
资金
- 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]
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.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据