PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.
Recently, autonomous driving based on multiple sensors has been studied actively in the field of automobiles and unmanned robots. Extrinsic parameter calibration is the first step to integrate the camera with Light Detection And Ranging (LiDAR). This paper proposes an extrinsic parameter calibration method using camera images and single 2D LiDAR points. The removal of infrared cut filter makes the line of laser scan points visible in the camera image. The scan line of the laser points on the calibration target is detected using edge matching in camera images, and the laser points are mapped to the coordinates of image with the initial value of the extrinsic parameters. We estimate the extrinsic parameters using edge matching and top-down method. The proposed method is verified by experiment according to the distance of the target.
Deokkyu Kim andSungho Kim
"Extrinsic parameter calibration of 2D LiDAR-camera using edge matching and removal of infrared cut filter", Proc. SPIE 11018, Signal Processing, Sensor/Information Fusion, and Target Recognition XXVIII, 110181B (7 May 2019); https://doi.org/10.1117/12.2518946
ACCESS THE FULL ARTICLE
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.
The alert did not successfully save. Please try again later.
Deokkyu Kim, Sungho Kim, "Extrinsic parameter calibration of 2D LiDAR-camera using edge matching and removal of infrared cut filter," Proc. SPIE 11018, Signal Processing, Sensor/Information Fusion, and Target Recognition XXVIII, 110181B (7 May 2019); https://doi.org/10.1117/12.2518946