Joint Calibration of a Multimodal Sensor System for Autonomous Vehicles
Multimodal sensor systems require precise calibration if they are to be used in the field. Due to the difficulty of obtaining the corresponding features from different modalities, the calibration of such systems is an open problem. We present a systematic approach for calibrating a set of cameras wi...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-06-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/23/12/5676 |
| _version_ | 1797592646403751936 |
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| author | Jon Muhovič Janez Perš |
| author_facet | Jon Muhovič Janez Perš |
| author_sort | Jon Muhovič |
| collection | DOAJ |
| description | Multimodal sensor systems require precise calibration if they are to be used in the field. Due to the difficulty of obtaining the corresponding features from different modalities, the calibration of such systems is an open problem. We present a systematic approach for calibrating a set of cameras with different modalities (RGB, thermal, polarization, and dual-spectrum near infrared) with regard to a LiDAR sensor using a planar calibration target. Firstly, a method for calibrating a single camera with regard to the LiDAR sensor is proposed. The method is usable with any modality, as long as the calibration pattern is detected. A methodology for establishing a parallax-aware pixel mapping between different camera modalities is then presented. Such a mapping can then be used to transfer annotations, features, and results between highly differing camera modalities to facilitate feature extraction and deep detection and segmentation methods. |
| first_indexed | 2024-03-11T01:57:07Z |
| format | Article |
| id | doaj.art-7ddca5a2615c42c68ea38a987cff4bf9 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-11T01:57:07Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-7ddca5a2615c42c68ea38a987cff4bf92023-11-18T12:34:30ZengMDPI AGSensors1424-82202023-06-012312567610.3390/s23125676Joint Calibration of a Multimodal Sensor System for Autonomous VehiclesJon Muhovič0Janez Perš1Faculty of Electrical Engineering, University of Ljubljana, Tržaška Cesta 25, SI-1000 Ljubljana, SloveniaFaculty of Electrical Engineering, University of Ljubljana, Tržaška Cesta 25, SI-1000 Ljubljana, SloveniaMultimodal sensor systems require precise calibration if they are to be used in the field. Due to the difficulty of obtaining the corresponding features from different modalities, the calibration of such systems is an open problem. We present a systematic approach for calibrating a set of cameras with different modalities (RGB, thermal, polarization, and dual-spectrum near infrared) with regard to a LiDAR sensor using a planar calibration target. Firstly, a method for calibrating a single camera with regard to the LiDAR sensor is proposed. The method is usable with any modality, as long as the calibration pattern is detected. A methodology for establishing a parallax-aware pixel mapping between different camera modalities is then presented. Such a mapping can then be used to transfer annotations, features, and results between highly differing camera modalities to facilitate feature extraction and deep detection and segmentation methods.https://www.mdpi.com/1424-8220/23/12/5676USVcalibrationmultimodal systemannotationautonomous vehicle |
| spellingShingle | Jon Muhovič Janez Perš Joint Calibration of a Multimodal Sensor System for Autonomous Vehicles Sensors USV calibration multimodal system annotation autonomous vehicle |
| title | Joint Calibration of a Multimodal Sensor System for Autonomous Vehicles |
| title_full | Joint Calibration of a Multimodal Sensor System for Autonomous Vehicles |
| title_fullStr | Joint Calibration of a Multimodal Sensor System for Autonomous Vehicles |
| title_full_unstemmed | Joint Calibration of a Multimodal Sensor System for Autonomous Vehicles |
| title_short | Joint Calibration of a Multimodal Sensor System for Autonomous Vehicles |
| title_sort | joint calibration of a multimodal sensor system for autonomous vehicles |
| topic | USV calibration multimodal system annotation autonomous vehicle |
| url | https://www.mdpi.com/1424-8220/23/12/5676 |
| work_keys_str_mv | AT jonmuhovic jointcalibrationofamultimodalsensorsystemforautonomousvehicles AT janezpers jointcalibrationofamultimodalsensorsystemforautonomousvehicles |