Optical Instruments, Volume. 41, Issue 6, 79(2019)

Calibration of lidar-camera fusion system for intelligent vehicles

Xiaoxu XU... Yingping HUANG* and Xing HU |Show fewer author(s)
Author Affiliations
  • School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
  • show less
    Figures & Tables(10)
    Diagram of related coordinate systems
    Calibration template of feature-point method
    Principle diagram of planar checkerboard method
    Installation diagram of the lidar-camera system
    Diagram of validation experiment
    Projection of lidar points to image
    • Table 1. Extracted feature points and calculated parameters

      View table
      View in Article

      Table 1. Extracted feature points and calculated parameters

      激光雷达特征点/m图像特征点/pixel求得的矩阵A
      [0.01,−0.12,8.49][285,314]
      [0.45,−0.12,8.48][325,313]
      [0.83,−0.14,10.15][346,293]
      [1.22,−0.14,10.15][374,292]
      [0.77,−0.16,11.87][334,278]
      [1.15,−0.16,11.87][357,278]
    • Table 2. NL, NC of the checkerboard planes at different positions and Pl at corresponding positions

      View table
      View in Article

      Table 2. NL, NC of the checkerboard planes at different positions and Pl at corresponding positions

      i个位置 Pi,1/m Pi,2/m Pi,3/m NL/m NC/m
      1[−0.48,−0.20,7.35][−0.40,−0.10,7.43][−0.35,0.20,7.36][038,−0.08,−7.36][−0.67,0.51,8.77]
      2[−0.20,−0.14,5.10][−0.11,−0.14,5.05][0.02,−0.14,5.02][1.78,0.71,4.09][1.97,0.37,5.22]
      3[−0.39,−0.10,7.78][−0.20,−0.21,7.68][0.06,−0.21,7.68][1.13,1.02,7.31][0.83,0.68,8.53]
    • Table 3. Results of the parameters

      View table
      View in Article

      Table 3. Results of the parameters

      结果RUnknown environment 'document'Unknown environment 'document'内部参数/像素
      初始解
      优化解
    • Table 4. Results of the projection of the two methods

      View table
      View in Article

      Table 4. Results of the projection of the two methods

      靶点 编号 激光雷达 坐标/m 实际图像坐标 [ua,iva,i]/像素 特征点法投影结果 [uc,ivc,i]/像素 特征点法对准 误差/像素 棋盘格法投影结果 [uc,ivc,i]/像素 棋盘格法对准 误差/像素
      1[0.73,−0.28,9.93][346,285][346.60,287.24]2.31[349.46,284.50]3.49
      2[1.06,−0.29,9.93][371,285][373.14,282.68]3.15[373.84,283.33]3.29
      3[1.39,−0.26,9.88][399,287][397.94,284.35]2.85[398.69,285.50]1.53
      4[−2.76,−0.38,17.79][172,248][168.78,245.39]4.14[170.56,246.85]1.84
      5[−2.43,−0.33,17.80][187,248][184.66,247.52]2.38[185.11,248.77]2.04
      6[−2.05,−0.30, 17.77][202,251][201.62,249.78]1.27[201.61,249.90]1.16
      7[−0.20,−0.41,19.93][284,241][281.26,238.52]3.69[282.31,239.25]2.43
      8[0.19,−0.41,19.92][299,241][296.81,238.41]3.39[297.44,239.04]2.50
      9[0.60,−0.41, 19.89][315,241][312.24,237.97]4.09[313.37,238.86]2.69
      平均值3.032.33
    Tools

    Get Citation

    Copy Citation Text

    Xiaoxu XU, Yingping HUANG, Xing HU. Calibration of lidar-camera fusion system for intelligent vehicles[J]. Optical Instruments, 2019, 41(6): 79

    Download Citation

    EndNote(RIS)BibTexPlain Text
    Save article for my favorites
    Paper Information

    Category: INSTRUMENTS

    Received: Mar. 22, 2019

    Accepted: --

    Published Online: May. 19, 2020

    The Author Email: HUANG Yingping (huangyingping@usst.edu.cn)

    DOI:10.3969/j.issn.1005-5630.2019.06.013

    Topics