Work

A Method for the Calibration of a LiDAR and Fisheye Camera System

Year: 2025

Type: article

Abstract: LiDAR and camera systems are frequently used together to gain a more complete understanding of the environment in different fields, such as mobile robotics, autonomous driving, or intelligent surveillance. Accurately calibrating the extrinsic parameters is crucial for the accurate fusion of the data captured by both systems, which is equivalent to finding the transformation between the reference systems of both sensors. Traditional calibration methods for LiDAR and camera systems are developed for pinhole cameras and are not directly applicable to fisheye cameras. This work proposes a target-based calibration method for LiDAR and fisheye camera systems that avoids the need to transform images to a pinhole camera model, reducing the computation time. Instead, the method uses the spherical projection of the image, obtained with the intrinsic calibration parameters and the corresponding point cloud for LiDAR–fisheye calibration. Thus, unlike a pinhole-camera-based system, a wider field of view is provided, adding more information, which will lead to a better understanding of the environment itself, as well as enabling using fewer image sensors to cover a wider area.

Source: Applied Sciences

DOI: 10.3390/app15042044

Authors: Álvaro Martínez, Antonio Santo, Monica Ballesta, Arturo Gil, Luis Payá

Institution: Universitat de Miguel Hernández d'Elx

Language: English

Topic: Robotics and Sensor-Based Localization

Subfield: Aerospace Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,896

Funder: Agencia Estatal de Investigación