Extrinsic Calibration Method of Lidar and Camera Based on Key Points of Calibration Board

Xingsheng Qin; Xiaohuan Li; Xin Tang; Zhaoyu Su; Zeji Liao

doi:10.3788/LOP202259.0428001

Laser & Optoelectronics Progress, Volume. 59, Issue 4, 0428001(2022)

Extrinsic Calibration Method of Lidar and Camera Based on Key Points of Calibration Board

Xingsheng Qin¹, Xiaohuan Li^1、*, Xin Tang², Zhaoyu Su¹, and Zeji Liao¹

Author Affiliations

¹School of Information and Communication, Guilin University of Electronic Technology, Guilin , Gaungxi 541004, China

²Institute of Information Technology, Guilin University of Electronic Technology, Guilin , Gaungxi 541004, China

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Figures & Tables(11)

Fig. 1. Point clouds in calibration plate from MEMS Lidar single frame scanning

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Fig. 2. Schematic diagram of calibration board image

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Fig. 3. Schematic diagram of calibration plate point clouds

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Fig. 4. Geometric representation of polar coordinate equation

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Fig. 5. Extrinsic calibration algorithm flow based on key points on calibration board

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Fig. 6. Experimental hardware connection diagram

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Fig. 7. Effect drawing of adjacent edge fitting and key point extraction of calibration plate

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Fig. 8. Renderings of point clouds projected onto image. (a) Key points of calibration board; (b) point and plane correspondences; (c) line and plane correspondences

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Table 1. Parameters of RS-LiDAR-M1
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Table 1. Parameters of RS-LiDAR-M1
Parameter Value
Distance /m 1-180
Precision /cm ±5
Vertical angle of view /（°） 25
Horizontal angle of view /（°） 120
Vertical resolution /（°） 0.2
Horizontal resolution /（°） 0.2

Table 2. Parameters of Basler acA2040-25gc
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Table 2. Parameters of Basler acA2040-25gc
Parameter Value
Distance /m 2-50
Resolution 1638 $\times$ 1248
Focus /mm 6.5
Vertical angle of view /（°） 72
Horizontal angle of view /（°） 88

Table 3. $A_{V G}$ error and $N_{R E} < p_{e}$ frame percentage of calibration of external parameters
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Table 3. $A_{V G}$ error and $N_{R E} < p_{e}$ frame percentage of calibration of external parameters
Method $A_{V G}$ /cm $p_{e} = 1$ /% $p_{e} = 5$ /% $p_{e} = 10$ /%
PPC［13］ 9.32 15.67 48.26 75.19
LPC［14］ 11.55 10.32 30.32 60.54
KPCB 6.18 20.98 70.78 90.42

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Xingsheng Qin, Xiaohuan Li, Xin Tang, Zhaoyu Su, Zeji Liao. Extrinsic Calibration Method of Lidar and Camera Based on Key Points of Calibration Board[J]. Laser & Optoelectronics Progress, 2022, 59(4): 0428001

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Paper Information

Category: Remote Sensing and Sensors

Received: Feb. 5, 2021

Accepted: Mar. 31, 2021

Published Online: Jan. 25, 2022

The Author Email: Xiaohuan Li (lxhguet@guet.edu.cn)

DOI:10.3788/LOP202259.0428001

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Parameters of RS-LiDAR-M1

Table 1. Parameters of RS-LiDAR-M1

Table 2. Parameters of Basler acA2040-25gc

Table 2. Parameters of Basler acA2040-25gc

Table 3. AVG error and NRE<pe frame percentage of calibration of external parameters

Table 3. AVG error and NRE<pe frame percentage of calibration of external parameters

Table 3. $A_{V G}$ error and $N_{R E} < p_{e}$ frame percentage of calibration of external parameters

Table 3. $A_{V G}$ error and $N_{R E} < p_{e}$ frame percentage of calibration of external parameters