Automatic Extrinsic Calibration of a Camera and a 2D LiDAR With Point-Line Correspondences
Extrinsic calibration of a 2D camera and a 2D LiDAR is necessary to fuse information from two sensors by representing the information under the same frame. Various geometric constraints such as point-plane, point-line, and point-point are used for the extrinsic calibration. Usually, these require a...
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10190560/ |
| _version_ | 1797768409247645696 |
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| author | Jae-Yeul Kim Jong-Eun Ha |
| author_facet | Jae-Yeul Kim Jong-Eun Ha |
| author_sort | Jae-Yeul Kim |
| collection | DOAJ |
| description | Extrinsic calibration of a 2D camera and a 2D LiDAR is necessary to fuse information from two sensors by representing the information under the same frame. Various geometric constraints such as point-plane, point-line, and point-point are used for the extrinsic calibration. Usually, these require a manual step, including control points selection for camera calibration and LiDAR points. We propose a new algorithm for automatic extrinsic calibration with point-line correspondences. A calibration structure with two perpendicular planes having a chessboard on both sides is used for the extrinsic calibration. First, we use predefined colors at specific locations on a chessboard to quickly find the origin of the coordinate system. Second, we robustly detect three control points on LiDAR raw data using a geometric constraint that two end points among three control points should lie on the same line. The initial linear solution is obtained by using a point-line constraint. Finally, it is refined by nonlinear minimization, which gives a 15.3% improvement compared to the linear solution. Experimental results show the feasibility of the proposed algorithm. |
| first_indexed | 2024-03-12T20:53:10Z |
| format | Article |
| id | doaj.art-6709f06cc7cc47c498ecc2f746591b44 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-12T20:53:10Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-6709f06cc7cc47c498ecc2f746591b442023-07-31T23:01:04ZengIEEEIEEE Access2169-35362023-01-0111769047691210.1109/ACCESS.2023.329805510190560Automatic Extrinsic Calibration of a Camera and a 2D LiDAR With Point-Line CorrespondencesJae-Yeul Kim0https://orcid.org/0000-0002-7765-4972Jong-Eun Ha1https://orcid.org/0000-0002-4144-1000Graduate School of Information and Communication Engineering, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu, South KoreaDepartment of Mechanical and Automotive Engineering, Seoul National University of Science and Technology, Seoul, South KoreaExtrinsic calibration of a 2D camera and a 2D LiDAR is necessary to fuse information from two sensors by representing the information under the same frame. Various geometric constraints such as point-plane, point-line, and point-point are used for the extrinsic calibration. Usually, these require a manual step, including control points selection for camera calibration and LiDAR points. We propose a new algorithm for automatic extrinsic calibration with point-line correspondences. A calibration structure with two perpendicular planes having a chessboard on both sides is used for the extrinsic calibration. First, we use predefined colors at specific locations on a chessboard to quickly find the origin of the coordinate system. Second, we robustly detect three control points on LiDAR raw data using a geometric constraint that two end points among three control points should lie on the same line. The initial linear solution is obtained by using a point-line constraint. Finally, it is refined by nonlinear minimization, which gives a 15.3% improvement compared to the linear solution. Experimental results show the feasibility of the proposed algorithm.https://ieeexplore.ieee.org/document/10190560/Extrinsic calibrationsensor fusioncameraLiDAR |
| spellingShingle | Jae-Yeul Kim Jong-Eun Ha Automatic Extrinsic Calibration of a Camera and a 2D LiDAR With Point-Line Correspondences IEEE Access Extrinsic calibration sensor fusion camera LiDAR |
| title | Automatic Extrinsic Calibration of a Camera and a 2D LiDAR With Point-Line Correspondences |
| title_full | Automatic Extrinsic Calibration of a Camera and a 2D LiDAR With Point-Line Correspondences |
| title_fullStr | Automatic Extrinsic Calibration of a Camera and a 2D LiDAR With Point-Line Correspondences |
| title_full_unstemmed | Automatic Extrinsic Calibration of a Camera and a 2D LiDAR With Point-Line Correspondences |
| title_short | Automatic Extrinsic Calibration of a Camera and a 2D LiDAR With Point-Line Correspondences |
| title_sort | automatic extrinsic calibration of a camera and a 2d lidar with point line correspondences |
| topic | Extrinsic calibration sensor fusion camera LiDAR |
| url | https://ieeexplore.ieee.org/document/10190560/ |
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