河南理工大学学报（自然科学版）2024，Vol.43Issue(2)：137-146,10.DOI:10.16186/j.cnki.1673-9787.2022120009
基于单目相机和多线激光雷达的联合标定方法研究
Study on joint calibration method based on monocular camera and multi-line lidar
摘要
Abstract
Objectives A joint calibration method based on nonlinear optimization to address the issue of ex-ternal parameter calibration between camera and lidar was proposed.The objective was to minimize the cali-bration error and achieve higher calibration accuracy.Methods First,images of the checkerboard calibra-tion board were taken from different angles,and the internal parameters of the camera were calibrated by using a toolkit,resulting in obtaining the internal parameters of the monocular camera.Then,the corner point feature coordinates of the calibration board were detected in both the laser point cloud and image.The coordinates in the laser point cloud were obtained by extracting the point cloud data of the calibration board and its geometric features,followed by determining the vertex coordinates through fitting the extracted pat-tern.The coordinates of each corner point were obtained by counting the number of rows and columns of the calibration board.The FAST corner detection was used to detect the corner point feature coordinates of the camera,and their coordinates were determined based on the gray information of the corner points.The objective function was constructed based on the projection error of the detected feature points from the point cloud to the image.The external parameter solution was transformed into the least squares problem.Finally,the optimal external parameters were obtained through an iterative solution by using the Levenberg-Marquardt nonlinear optimization algorithm.Results The final average calibration error reached 1.29 pixels,with a maximum error of 2.46 pixels,a minimum error of 0.70 pixels,and a standard deviation of 0.57 pixels.Conclusions The calibration results demonstrated good accuracy,allowing for the projection of the point cloud onto the image.The results were applied to the visual and LiDAR fusion SLAM algorithm in practical scenarios,resulting in smooth motion trajectories highly consistent with the map.The calibration process was simple and convenient.It did not require the actual physical size of the checkerboard and meet practi-cal requirements.关键词
多传感器融合/单目相机/激光雷达/联合标定/图像处理Key words
multi-sensor fusion/monocular camera/lidar/joint calibration/image processing分类
信息技术与安全科学引用本文复制引用
代军,李文波,赵俊伟,袁兴起,王跃功,李东方,程晓琦,花岛直彥..基于单目相机和多线激光雷达的联合标定方法研究[J].河南理工大学学报（自然科学版）,2024,43(2):137-146,10.基金项目
国家自然科学基金资助项目(62201151) （62201151）
河南省科技攻关项目(232102221028) （232102221028）
河南省高等学校重点科研项目(22A460020) （22A460020）
河南理工大学博士基金资助项目(B2016-22) （B2016-22）
