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3D-CALI: Automatic calibration for camera and LiDAR using 3D checkerboard

文献类型： 外文期刊

作者： Wang, Qing 1 ; Yan, Chao 1 ; Tan, Rongxuan 1 ; Feng, Youyang 1 ; Sun, Yang 1 ; Liu, Yu 2 ;

作者机构： 1.Southeast Univ, Sch Instrument Sci & Engn, Nanjing 210096, Peoples R China

2.Beijing Acad Agr & Forestry Sci, Res Ctr Informat Technol, Beijing 100097, Peoples R China

关键词： Automatic calibration; Extrinsic parameters; Intrinsic parameter; LiDAR; Camera

期刊名称：MEASUREMENT （ 影响因子：5.131； 五年影响因子：4.639 ）

ISSN： 0263-2241

年卷期： 2022 年 203 卷

页码：

收录情况： SCI

摘要： Accurate and robust calibration of intrinsic and extrinsic parameters is crucial to multi-sensor simultaneous localization and mapping (SLAM) systems. However, extrinsic calibration of heterogeneous sensors is chal-lenging owing to the differences in data acquisition methods. Therefore, we propose a more robust and convenient method to calibrate the intrinsic parameters for the camera and extrinsic parameters for cameras and light detection and ranging (LiDAR) sensors based on a 3D checkerboard. We tested the algorithm in simulation and real-world environments. Experiments in the simulation environment showed that our proposed method had similar accuracy as the state-of-the-art calibration method velo2cam_calibration.1 However, our proposed al-gorithm had less interaction and was more automatic. The real-world test also confirmed the results of our proposed method. Thus, the proposed method is a convenient means to calibrate intrinsic parameters for cam-eras, and extrinsic parameters for cameras and LiDAR sensors based on a 3D checkerboard.

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