by Levente Tamas, Zoltan Kato
Abstract:
A novel method is proposed for the calibration of a camera - 3D lidar pair without the use of any special calibration pattern or point correspondences. The proposed method has no specific assumption about the data source: plain depth information is expected from the lidar scan and a simple perspective camera is used for the 2D images. The calibration is solved as a 2D-3D registration problem using a minimum of one (for extrinsic) or two (for intrinsic-extrinsic) planar regions visible in both cameras. The registration is then traced back to the solution of a non-linear system of equations which directly provides the calibration parameters between the bases of the two sensors. The method has been tested on a large set of synthetic lidar-camera image pairs as well as on real data acquired in outdoor environment.
Reference:
Levente Tamas, Zoltan Kato, Targetless Calibration of a Lidar - Perspective Camera Pair, In Proceedings of ICCV Workshop on Big Data in 3D Computer Vision, Sydney, Australia, pp. 668-675, 2013, IEEE.
Bibtex Entry:
@string{iccv-bigdata="Proceedings of ICCV Workshop on Big Data in 3D Computer Vision"}
@INPROCEEDINGS{Tamas-Kato2013,
author = {Levente Tamas and Zoltan Kato},
title = {Targetless Calibration of a Lidar - Perspective Camera Pair},
booktitle = iccv-bigdata,
year = {2013},
pages = {668--675},
address = {Sydney, Australia},
month = dec,
organization = {IEEE},
publisher = {IEEE},
abstract = {A novel method is proposed for the calibration of a camera - 3D lidar
pair without the use of any special calibration pattern or point
correspondences. The proposed method has no specific assumption about
the data source: plain depth information is expected from the lidar
scan and a simple perspective camera is used for the 2D images. The
calibration is solved as a 2D-3D registration problem using a minimum
of one (for extrinsic) or two (for intrinsic-extrinsic) planar regions
visible in both cameras. The registration is then traced back to
the solution of a non-linear system of equations which directly provides
the calibration parameters between the bases of the two sensors.
The method has been tested on a large set of synthetic lidar-camera
image pairs as well as on real data acquired in outdoor environment.}
}