利用三维锥形棋盘对相机和激光雷达系统进行外部校准

IF 5 2区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE
Dexin Ren, Mingwu Ren, Haofeng Zhang
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引用次数: 0

摘要

随着在感知任务中越来越多地使用照相机和三维光探测与测距(LiDAR)系统,这两种传感器模式的融合已成为机器人和无人系统领域的一个突出研究重点。虽然已经开发出了各种外在校准方法,但在使用低分辨率激光雷达传感器时,这些方法往往精度有限,而且需要在多个位置放置校准目标。本文介绍了一种被称为三维锥形棋盘(3TC)的新型校准目标,以及一种适用于相机-激光雷达系统的精确、直接的外校准方法。3TC 由装饰着平面或二维棋盘的堆叠立方体组成,提供棋盘角点在三维空间中的已知位置。利用迭代最邻近点(ICP)算法,拟议方法计算激光雷达点云数据和 3TC 模型之间的空间关系,从而推断出棋盘角点在激光雷达坐标系中的位置。随后,根据相机的固有参数,采用 "透视-n-点"(PnP)算法建立激光雷达坐标系中的角点位置与相机图像之间的相关性。通过确保特定 3TC 上有足够数量的立方体和二维棋盘,以及精确估算的激光雷达角点位置,来自相机和激光雷达的单帧数据有助于它们的外部校准。在不同的相机和激光雷达系统中进行的实验验证,实现了接近设备理论极限的最小误差,证明了 3TC 和建议校准方法的稳健性和精确性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Extrinsic Calibration of Camera and LiDAR Systems With Three-Dimensional Towered Checkerboards

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.

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来源期刊
International Journal of Intelligent Systems
International Journal of Intelligent Systems 工程技术-计算机:人工智能
CiteScore
11.30
自引率
14.30%
发文量
304
审稿时长
9 months
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.
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