LiDAR-Camera Calibration Using Line Correspondences
In this paper, we introduce a novel approach to estimate the extrinsic parameters between a LiDAR and a camera. Our method is based on line correspondences between the LiDAR point clouds and camera images. We solve the rotation matrix with 3D–2D infinity point pairs extracted from parallel lines. Th...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-11-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/20/21/6319 |
| _version_ | 1797548677046206464 |
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| author | Zixuan Bai Guang Jiang Ailing Xu |
| author_facet | Zixuan Bai Guang Jiang Ailing Xu |
| author_sort | Zixuan Bai |
| collection | DOAJ |
| description | In this paper, we introduce a novel approach to estimate the extrinsic parameters between a LiDAR and a camera. Our method is based on line correspondences between the LiDAR point clouds and camera images. We solve the rotation matrix with 3D–2D infinity point pairs extracted from parallel lines. Then, the translation vector can be solved based on the point-on-line constraint. Different from other target-based methods, this method can be performed simply without preparing specific calibration objects because parallel lines are commonly presented in the environment. We validate our algorithm on both simulated and real data. Error analysis shows that our method can perform well in terms of robustness and accuracy. |
| first_indexed | 2024-03-10T15:04:01Z |
| format | Article |
| id | doaj.art-65098c2231484661aeee0a6676acd758 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T15:04:01Z |
| publishDate | 2020-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-65098c2231484661aeee0a6676acd7582023-11-20T19:56:37ZengMDPI AGSensors1424-82202020-11-012021631910.3390/s20216319LiDAR-Camera Calibration Using Line CorrespondencesZixuan Bai0Guang Jiang1Ailing Xu2School of Telecommunications Engineering, Xidian University, Xi’an 710071, ChinaSchool of Telecommunications Engineering, Xidian University, Xi’an 710071, ChinaSchool of Telecommunications Engineering, Xidian University, Xi’an 710071, ChinaIn this paper, we introduce a novel approach to estimate the extrinsic parameters between a LiDAR and a camera. Our method is based on line correspondences between the LiDAR point clouds and camera images. We solve the rotation matrix with 3D–2D infinity point pairs extracted from parallel lines. Then, the translation vector can be solved based on the point-on-line constraint. Different from other target-based methods, this method can be performed simply without preparing specific calibration objects because parallel lines are commonly presented in the environment. We validate our algorithm on both simulated and real data. Error analysis shows that our method can perform well in terms of robustness and accuracy.https://www.mdpi.com/1424-8220/20/21/6319extrinsic calibrationLiDAR-Cameraline correspondenceinfinity point |
| spellingShingle | Zixuan Bai Guang Jiang Ailing Xu LiDAR-Camera Calibration Using Line Correspondences Sensors extrinsic calibration LiDAR-Camera line correspondence infinity point |
| title | LiDAR-Camera Calibration Using Line Correspondences |
| title_full | LiDAR-Camera Calibration Using Line Correspondences |
| title_fullStr | LiDAR-Camera Calibration Using Line Correspondences |
| title_full_unstemmed | LiDAR-Camera Calibration Using Line Correspondences |
| title_short | LiDAR-Camera Calibration Using Line Correspondences |
| title_sort | lidar camera calibration using line correspondences |
| topic | extrinsic calibration LiDAR-Camera line correspondence infinity point |
| url | https://www.mdpi.com/1424-8220/20/21/6319 |
| work_keys_str_mv | AT zixuanbai lidarcameracalibrationusinglinecorrespondences AT guangjiang lidarcameracalibrationusinglinecorrespondences AT ailingxu lidarcameracalibrationusinglinecorrespondences |