CONFERENCE PROCEEDINGS
Advanced Search
Home > Proceedings > Volume 12065 > Article
Paper
21 December 2021 Extrinsic calibration of Velodyne-VLP16 LiDAR and camera using only three 3D-2D correspondences
Fei Liu, Shaokun Han, Xuefei Bai, Zhengchao Lai, Jun Li, Yu Zhai, Wenhao Li, Shangwei Guo
Author Affiliations +
Proceedings Volume 12065, AOPC 2021: Optical Sensing and Imaging Technology; 1206548 (2021) https://doi.org/10.1117/12.2605517
Event: Applied Optics and Photonics China 2021, 2021, Beijing, China
Abstract
The composition of multiple-layer Light Detection And Ranging (LiDAR) and camera is commonly used in autonomous perception systems. Complementary information of these sensors is instrumental in the reliable surrounding perception. However, it is a difficult work for obtaining the extrinsic parameters between LiDAR and camera, which must be known for some perception algorithms. In this study, we present a method, using only three 3D-2D correspondences to compute the extrinsic parameters between Velodyne-VLP16 LiDAR and monocular camera. The procedure is that 3D and 2D features are extracted respectively from the point cloud and image of a custom calibration target and then the extrinsic parameters are obtained based on these features by the perspective-3-point (P3P) algorithm. Outliers with minimum energy at geometrical discontinuities of target are used as control points for extracting key features in LiDAR point cloud. Moreover, a novel method is presented to distinguish the correct solution from multiple P3P solutions. The method depends on conic shape discrepancies in spaces of the different solutions.
© (2021) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Citation Download Citation
Fei Liu, Shaokun Han, Xuefei Bai, Zhengchao Lai, Jun Li, Yu Zhai, Wenhao Li, and Shangwei Guo "Extrinsic calibration of Velodyne-VLP16 LiDAR and camera using only three 3D-2D correspondences", Proc. SPIE 12065, AOPC 2021: Optical Sensing and Imaging Technology, 1206548 (21 December 2021); https://doi.org/10.1117/12.2605517
ACCESS THE FULL ARTICLE
ORGANIZATIONAL
Sign in with credentials provided by your organization.
INSTITUTIONAL
Select your institution to access the SPIE Digital Library.
SELECT YOUR INSTITUTION
PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.
PERSONAL SIGN IN
No SPIE Account? Create one
;
PURCHASE THIS CONTENT
SUBSCRIBE TO DIGITAL LIBRARY
50 downloads per 1-year subscription
Members: $195
Non-members: $335 ADD TO CART
25 downloads per 1 - year subscription
Members: $145
Non-members: $250 ADD TO CART
PURCHASE SINGLE ARTICLE
Includes PDF, HTML & Video, when available
Members: $17.00
Non-members: $21.00 ADD TO CART
PROCEEDINGS
 11 PAGES
DOWNLOAD PAPER SAVE TO MY LIBRARY
GET CITATION
Advertisement
Advertisement
RIGHTS & PERMISSIONS
Get copyright permission  Get copyright permission on Copyright Marketplace
KEYWORDS
Calibration
LIDAR
Cameras
Clouds
Feature extraction
Imaging systems
RELATED CONTENT
Subscribe to Digital Library
Receive Erratum Email Alert
Back to Top