Calibration of Event-based Camera and 3D LiDAR

Abstract

Calibration is an important step before fusing the data of multi-sensors together. The methods which had been proposed to calibrate a regular camera and 3D LiDAR cannot be used to calibrate the event-based camera and 3D LiDAR. Because the event-based camera needs the changing light to trigger. Therefore, we proposed a novel 3D marker which consists of a blinking screen and a planar board with four circular holes. Using this 3D marker, the event-based camera will generate a stable pattern which also has a sharp difference in depth with the background, which means it can be detected easily and accurately in both 2D point set and 3D point cloud. The proposed approach is validated by using a novel calibration error and a cost function. Meanwhile, from the comparison with the manual calibration, our approach’s performance is satisfying.