Fig. 1. Registration flow chart

Fig. 2. Infrared camera and LiDAR hardware synchronization solution

Fig. 3. Coordinate system diagram

Fig. 4. Sensor mounting location dimensions

Fig. 5. Lidar coordinate system translation

Fig. 6. LiDAR coordinate system rotation

Fig. 7. Coarse registration effect

Fig. 8. Coarse calibration effect test

Fig. 9. Principle of fine calibration

Fig. 10. Point cloud distribution of zebra line and lane line

Fig. 11. Comparison of zebra line point cloud extraction effects. (a) Zebra lines extracted by initial intensity threshold; (b) zebra lines extracted by adaptive intensity threshold

Fig. 12. Comparison of extraction effects of road pole point cloud. (a) Point cloud of road poles extracted using voxel columns; (b) point cloud of road poles extracted using voxel columns plus cylindrical fitting

Fig. 13. Comparison of pedestrian projection effects. (a) Coarse calibration projection effect; (b) fine calibration projection effect

Fig. 14. Calibration algorithm flow chart

Fig. 15. Comparison of alignment projection effect of different schemes. (a) Alignment effect of visible light and LiDAR; (b) alignment effect of infrared camera and LiDAR using visible light scheme; (c) alignment effect of proposed infrared camera and LiDAR

Fig. 16. Comparison of registration projection effects. (a) Visible light registration effect in foggy weather; (b) infrared registration effect in foggy weather; (c) night visible light registration effect; (d) night infrared registration effect