西安工程大学学报2025，Vol.39Issue(2)：109-117,9.DOI:10.13338/j.issn.1674-649x.2025.02.013
图像角点与点云曲率渲染边界特征下的雷视一体标定
LiDAR and camera integrated calibration based on image corner points and point clouds curvature rendering boundary
摘要
Abstract
A multi-sensor perception system composed of light detection and ranging(LiDAR)and cameras must first undergo calibration before it can perform tasks such as modeling and recogni-tion.As the scanning range of LiDAR gradually expanded and its application scenarios diversi-fied,to ensure the flexibility of LiDAR-camera calibration in various environments,including in-door,outdoor,and long-or short-distance scenarios,the paper proposed a method that does not require calibration boards.Instead,it leverages feature points from buildings or natural scenes to calibrate the extrinsic parameters between LiDAR and cameras.This method combined curva-ture-rendered boundary features of point clouds to assist in feature point selection and a 2D image corner extraction algorithm,enabling convenient and efficient extrinsic parameter calibration in scenes with natural features.Experimental results show that the maximum mean error of the translation vector is 34 mm,and the maximum mean error of the rotation vector is 0.493°,which meets the requirements for common centimeter-level LiDAR-camera calibration.关键词
多传感器/雷视标定/图像角点/曲率渲染/激光雷达Key words
multi-sensor/LiDAR-camera calibration/image corner points/curvature rendering/light detection and ranging(LiDAR)分类
计算机与自动化引用本文复制引用
张代聪,李倩,余继龙,陈文博,罗宝琪..图像角点与点云曲率渲染边界特征下的雷视一体标定[J].西安工程大学学报,2025,39(2):109-117,9.基金项目
国家自然科学基金项目(52005380) （52005380）
