Lidar Upsampling Using HSD Color Space Guided Image

Abstract

This paper proposes a 3D spatial upsampling algorithm using a 2D LiDAR and a single camera. These two devices are placed on the same line, and both data are acquired by rotating the stage 360° around a vertical axis using a step motor. The obtained data is used to calibrate between the LiDAR and the camera. And a high-density 3D map is generated through a proposed two-step upsampling method using HSD-based guide image.