-
Targetless Calibration of a Lidar - Perspective Camera Pair
AbstractA 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 intrinsicextrinsic) 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 lidarcamera image pairs as well as on real data acquired in outdoor environment.
Related Material
[pdf][bibtex]@InProceedings{Tamas_2013_ICCV_Workshops,
author = {Levente Tamas and Zoltan Kato},
title = {Targetless Calibration of a Lidar - Perspective Camera Pair},
booktitle = {Proceedings of the IEEE International Conference on Computer Vision (ICCV) Workshops},
month = {June},
year = {2013}
}
These ICCV 2013 workshop papers are the Open Access versions, provided by the Computer Vision Foundation.
Except for the watermark, they are identical to the accepted versions; the final published version of the proceedings is available on IEEE Xplore.
Except for the watermark, they are identical to the accepted versions; the final published version of the proceedings is available on IEEE Xplore.
This material is presented to ensure timely dissemination of scholarly and technical work.
Copyright and all rights therein are retained by authors or by other copyright holders.
All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright.