Nagy, Balázs and Kovács, Levente and Benedek, Csaba (2019) SFM and Semantic Information Based Online Targetless Camera-LIDAR Self-Calibration. In: 2019 IEEE International Conference on Image Processing (ICIP), 2019. szeptember 22-25., Taipei, Taiwan.
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Abstract
In this paper we propose an end-to-end, automatic, online camera-LIDAR calibration approach, for application in self driving vehicle navigation. The main idea is to connect the image domain and the 3D space by generating point clouds from camera data while driving, using a structure from motion (SfM) pipeline, and use it as the basis for registration. As a core step of the algorithm we introduce an object level alignment to transform the generated and captured point clouds into a common coordinate system. Finally, we calculate the correspondences between the 2D image domain and the 3D LIDAR point clouds, to produce the registration. We evaluated the method in various different real life traffic scenarios.
| Item Type: | Conference or Workshop Item (Paper) |
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| Subjects: | Q Science / természettudomány > QA Mathematics / matematika > QA76 Computer software / programozás |
| Depositing User: | Dr Csaba Benedek |
| Date Deposited: | 07 Oct 2019 09:20 |
| Last Modified: | 30 Mar 2023 07:13 |
| URI: | http://real.mtak.hu/id/eprint/102064 |
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