计算机与数字工程2023，Vol.51Issue(12)：3035-3039,5.DOI:10.3969/j.issn.1672-9722.2023.12.047
一种基于棋盘格标定板的激光雷达-相机标定方法
A LiDAR-camera Calibration Method Based on Checkerboard Calibration Board
孔维杰 1任明武1
作者信息
- 1. 南京理工大学计算机科学与工程学院 南京 210094
- 折叠
摘要
Abstract
LiDAR-camera calibration is the basis of various fusion algorithms and calibration results directly affect fusion per-formance.According to the external calibration theory,a target-based(checkboard)LiDAR-camera calibration method is proposed in this paper.Due to the sparsity of point clouds,the method uses time-domain integration to extract features from multi-frame point clouds.According to the constraint of reflection intensity distribution of point clouds on the checkerboard,the checkerboard measurement is used to estimate 3D corners.Combining 2D corners detected in the image,after corresponding corners in order,an external calibration matrix is generated by solving the nonlinear optimization problem.The experiments show that the method can perform accurate and stable calibration in a controlled environment.关键词
传感器融合/激光雷达-相机标定/基于目标物Key words
sensor fusion/LiDAR-camera calibration/target-based分类
信息技术与安全科学引用本文复制引用
孔维杰,任明武..一种基于棋盘格标定板的激光雷达-相机标定方法[J].计算机与数字工程,2023,51(12):3035-3039,5.
