{"title":"利用三维锥形棋盘对相机和激光雷达系统进行外部校准","authors":"Dexin Ren, Mingwu Ren, Haofeng Zhang","doi":"10.1155/2024/2478715","DOIUrl":null,"url":null,"abstract":"<div>\n <p>With the increasing utilization of cameras and three-dimensional Light Detection and Ranging (LiDAR) systems in perception tasks, the fusion of these two sensor modalities has emerged as a prominent research focus in the fields of robotics and unmanned systems. While various extrinsic calibration methods have been developed, they often suffer from limited accuracy when using low-resolution LiDAR sensors and require the placement of calibration targets at multiple locations. This paper introduces a novel calibration target known as the Three-Dimensional Towered Checkerboard (3TC), along with a precise and straightforward extrinsic calibration approach for camera-LiDAR systems. The 3TC consists of stacked cubes adorned with planar or 2D checkerboards, which provide the known positions of checkerboard corner points in three-dimensional space. Leveraging the Iterative Closest Point (ICP) algorithm, the proposed method calculates the spatial relationship between LiDAR point cloud data and the 3TC model to infer the positions of checkerboard corner points in the LiDAR coordinate system. Subsequently, the Perspective-n-Point (PnP) algorithm is employed to establish the correlation between corner positions in the LiDAR coordinate system and the camera image, given the intrinsic parameters of the camera. By ensuring an adequate number of cubes and 2D checkerboards on a specific 3TC, along with accurately estimated corner point positions in LiDAR, a single frame of data from both the camera and LiDAR facilitates their extrinsic calibration. Experimental validations conducted across diverse camera and LiDAR systems, achieving minimal error close to the theoretical limit of the devices, attest to the robustness and precision of the 3TC and the proposed calibration methodology.</p>\n </div>","PeriodicalId":14089,"journal":{"name":"International Journal of Intelligent Systems","volume":"2024 1","pages":""},"PeriodicalIF":5.0000,"publicationDate":"2024-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1155/2024/2478715","citationCount":"0","resultStr":"{\"title\":\"Extrinsic Calibration of Camera and LiDAR Systems With Three-Dimensional Towered Checkerboards\",\"authors\":\"Dexin Ren, Mingwu Ren, Haofeng Zhang\",\"doi\":\"10.1155/2024/2478715\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div>\\n <p>With the increasing utilization of cameras and three-dimensional Light Detection and Ranging (LiDAR) systems in perception tasks, the fusion of these two sensor modalities has emerged as a prominent research focus in the fields of robotics and unmanned systems. While various extrinsic calibration methods have been developed, they often suffer from limited accuracy when using low-resolution LiDAR sensors and require the placement of calibration targets at multiple locations. This paper introduces a novel calibration target known as the Three-Dimensional Towered Checkerboard (3TC), along with a precise and straightforward extrinsic calibration approach for camera-LiDAR systems. The 3TC consists of stacked cubes adorned with planar or 2D checkerboards, which provide the known positions of checkerboard corner points in three-dimensional space. Leveraging the Iterative Closest Point (ICP) algorithm, the proposed method calculates the spatial relationship between LiDAR point cloud data and the 3TC model to infer the positions of checkerboard corner points in the LiDAR coordinate system. Subsequently, the Perspective-n-Point (PnP) algorithm is employed to establish the correlation between corner positions in the LiDAR coordinate system and the camera image, given the intrinsic parameters of the camera. By ensuring an adequate number of cubes and 2D checkerboards on a specific 3TC, along with accurately estimated corner point positions in LiDAR, a single frame of data from both the camera and LiDAR facilitates their extrinsic calibration. Experimental validations conducted across diverse camera and LiDAR systems, achieving minimal error close to the theoretical limit of the devices, attest to the robustness and precision of the 3TC and the proposed calibration methodology.</p>\\n </div>\",\"PeriodicalId\":14089,\"journal\":{\"name\":\"International Journal of Intelligent Systems\",\"volume\":\"2024 1\",\"pages\":\"\"},\"PeriodicalIF\":5.0000,\"publicationDate\":\"2024-10-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://onlinelibrary.wiley.com/doi/epdf/10.1155/2024/2478715\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Intelligent Systems\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1155/2024/2478715\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Intelligent Systems","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1155/2024/2478715","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE","Score":null,"Total":0}
Extrinsic Calibration of Camera and LiDAR Systems With Three-Dimensional Towered Checkerboards
With the increasing utilization of cameras and three-dimensional Light Detection and Ranging (LiDAR) systems in perception tasks, the fusion of these two sensor modalities has emerged as a prominent research focus in the fields of robotics and unmanned systems. While various extrinsic calibration methods have been developed, they often suffer from limited accuracy when using low-resolution LiDAR sensors and require the placement of calibration targets at multiple locations. This paper introduces a novel calibration target known as the Three-Dimensional Towered Checkerboard (3TC), along with a precise and straightforward extrinsic calibration approach for camera-LiDAR systems. The 3TC consists of stacked cubes adorned with planar or 2D checkerboards, which provide the known positions of checkerboard corner points in three-dimensional space. Leveraging the Iterative Closest Point (ICP) algorithm, the proposed method calculates the spatial relationship between LiDAR point cloud data and the 3TC model to infer the positions of checkerboard corner points in the LiDAR coordinate system. Subsequently, the Perspective-n-Point (PnP) algorithm is employed to establish the correlation between corner positions in the LiDAR coordinate system and the camera image, given the intrinsic parameters of the camera. By ensuring an adequate number of cubes and 2D checkerboards on a specific 3TC, along with accurately estimated corner point positions in LiDAR, a single frame of data from both the camera and LiDAR facilitates their extrinsic calibration. Experimental validations conducted across diverse camera and LiDAR systems, achieving minimal error close to the theoretical limit of the devices, attest to the robustness and precision of the 3TC and the proposed calibration methodology.
期刊介绍:
The International Journal of Intelligent Systems serves as a forum for individuals interested in tapping into the vast theories based on intelligent systems construction. With its peer-reviewed format, the journal explores several fascinating editorials written by today''s experts in the field. Because new developments are being introduced each day, there''s much to be learned — examination, analysis creation, information retrieval, man–computer interactions, and more. The International Journal of Intelligent Systems uses charts and illustrations to demonstrate these ground-breaking issues, and encourages readers to share their thoughts and experiences.