Year: 2019
Type: conference-paper
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.
Source: Machine Vision Applications
Authors: Balazs Nagy, Levente Kovacs, Csaba Benedek
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: bronze
OpenAlex ID: W2959664128