LiDAR and Camera External Parameter Calibration Method Based on Multi-Dimensional Dynamic Convolution

Saisai Zhang; Hongfei Yu

doi:10.3788/LOP231601

Laser & Optoelectronics Progress, Volume. 61, Issue 12, 1215004(2024)

LiDAR and Camera External Parameter Calibration Method Based on Multi-Dimensional Dynamic Convolution

Saisai Zhang and Hongfei Yu^*

Author Affiliations

School of Artificial Intelligence and Software, Liaoning Petrochemical University, Fushun 113000, Liaoning , China

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Abstract Get PDF(in Chinese)

Figures & Tables(8)

Fig. 1. System flowchart

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Fig. 2. ODConv structure

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Fig. 3. Structure of calibration network

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Fig. 4. Examples of calibration results for different scenes in the "2011_09_26" sequence

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Fig. 5. Examples of calibration results for different scenes in the "2011_09_29" sequence

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Table 1. Training parameters of network model
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Table 1. Training parameters of network model
Parameter Value
Batch size 8
Learning rate 0.0001
Epoch 140
Weight of the transformation loss 4
Weight of the point cloud loss 1
Weight of depth map loss 40

Table 2. Calibration error of different methods

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Table 2. Calibration error of different methods

Method	Rotation absolute error /（°）				Translation absolute error /m
Method	$e_{R o l l}$	$e_{P i t c h}$	$e_{Y a w}$	$A$	$e_{X}$	$e_{Y}$	$e_{Z}$	$B$
RegNet	0.24	0.25	0.36	0.28	0.070	0.070	0.040	0.060
CalibNet	—	—	—	—	0.042	0.016	0.072	0.043
CalibNet	0.15	0.90	0.18	0.41	0.120	0.035	0.079	0.078
CalibRCNN	0.19	0.64	0.44	0.42	0.062	0.043	0.054	0.053
CalibDNN	0.11	0.35	0.18	0.21	0.038	0.018	0.096	0.051
Zhang	—	—	—	1.95	—	—	—	0.023
CRLF	0.22	0.55	0.49	0.42	0.082	0.046	0.097	0.075
Proposed method	0.18	0.45	0.16	0.26	0.013	0.010	0.026	0.016

Table 3. Generalization test calibration error on different datasets

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Table 3. Generalization test calibration error on different datasets

Dataset	Rotation absolute error /（°）				Translation absolute error /m
Dataset	$e_{R o l l}$	$e_{P i t c h}$	$e_{Y a w}$	$A$	$e_{X}$	$e_{Y}$	$e_{Z}$	$B$
2011_09_28	0.23	0.52	0.23	0.32	0.020	0.018	0.043	0.027
2011_09_29	0.20	0.58	0.21	0.33	0.016	0.015	0.045	0.025
2011_09_30	0.21	0.47	0.17	0.28	0.015	0.017	0.036	0.022
2011_10_03	0.23	0.51	0.19	0.31	0.018	0.020	0.034	0.024

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Saisai Zhang, Hongfei Yu. LiDAR and Camera External Parameter Calibration Method Based on Multi-Dimensional Dynamic Convolution[J]. Laser & Optoelectronics Progress, 2024, 61(12): 1215004

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