中南大学学报（自然科学版）2012，Vol.43Issue(12)：4735-4742,8.
一种基于双平行平面的激光雷达和摄像机标定方法
A practical method for calibration of laser radar and camera based on double parallel planes
摘要
Abstract
An effective algorithm for calibrating the extrinsic parameters between a camera and a laser radar mounted on a vehicle was studied. The calibration process was composed of two successive steps, i.e. calibration of each sensor with respect to vehicle coordinate system and joint calibration of both sensor later. Firstly, according to the laser scanning data responding to double parallel calibration boards, the pitch degree and yaw degree of laser radar with respect to vehicle coordinate system can be computed. Secondly the extrinsic parameters between a camera and vehicle coordinate system were computed employing a planar checkerboard pattern. Lastly, the joint calibration of whole system including laser radar, camera, and vehicle was realized by integrating the two previous steps. This proposed method can complete the whole system calibration with only scanning data of laser and camera responding to the calibration target one time. The simulation and experimental results show that the proposed method can achieve calibration result with high precision.关键词
激光雷达/摄像机/联合标定Key words
laser radar/ camera/ joint calibration分类
信息技术与安全科学引用本文复制引用
彭梦,蔡自兴..一种基于双平行平面的激光雷达和摄像机标定方法[J].中南大学学报（自然科学版）,2012,43(12):4735-4742,8.基金项目
国家自然科学基金重大研究计划重点资助项目(90820302) （90820302）
