期刊文献+

一种3D激光雷达和摄像机的联合标定方法 预览

Joint calibration method of 3D LIDAR and camera
在线阅读 下载PDF
收藏 分享 导出
摘要 针对由摄像机和3D激光雷达组成的无人车平台的外部标定问题,提出一种3D激光雷达和摄像机的联合标定方法.通过激光雷达在地面上的扫描信息,获取激光雷达安装的俯仰角和安装高度;利用黑白棋盘格标定板获取摄像机相对车体的姿态外参数;最后综合激光雷达和摄像机的标定结果,对激光雷达、摄像头、车体进行联合标定.该方法只要让标定板放置于车体正前方,采集一次数据就能满足整个标定过程,实现两种类型传感器的联合标定.实验结果表明该方法有较好的标定效果. In allusion to the problem of external calibration of unmanned vehicle platform composed of camera and 3D LI. DAR,a joint calibration method of 3DLIDAR(light detection and ranging,LIDAR) and camera is proposed. The pitch angle and installation height of the LIDAR are obtained from the scanning information on ground scanned by LIDAR,and the external attitude parameters of the camera relative to the vehicle are obtained by using the black and white checkerboard calibration board. Finally,LIDAR,camera and vehicle are calibrated jointly by integrating the calibration results of LIDAR and camera. In this method,as long as the calibration board is placed in front of the vehicle body,data collected once can satisfy the whole cal. ibration process and realize the joint calibration of two types of sensors. The experimental results show that the method has better calibration effect.
作者 刘振 王甦菁 李擎 LIU Zhen;WANG Sujing;LI Qing(Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing Information Science Technology University,Beijing 100101,China;Key Laboratory of Behavior Sciences,Institute of Psychology,Chinese Academy of Sciences,Beijing 100101,China)
出处 《现代电子技术》 北大核心 2019年第18期18-21,共4页 Modern Electronics Technique
基金 国家自然科学基金(61471046) 国家自然科学基金(61772511) 北京市教委市属高校创新能力提升计划项目(TJSHG201510772017).
关键词 3D激光雷达 摄像机 联合标定 无人车 标定板 传感器 3D LIDAR camera joint calibration unmanned vehicle calibration board sensor
作者简介 刘振(1994-),男,硕士研究生,研究方向为机器视觉;王甦菁(1976-),男,博士,副研究员,研究方向为计算机视觉;李擎(1964-),女,博士,教授,研究方向为智能导航与控制。
  • 相关文献

参考文献1

二级参考文献3

投稿分析

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部 意见反馈
新型冠状病毒肺炎防控与诊疗专栏