Researching | External Parameter Calibration Method of LiDAR and Camera Based on Semantic Segmentation in Automatic Driving Environment

Laser & Optoelectronics Progress, Volume. 61, Issue 24, 2428011(2024)

External Parameter Calibration Method of LiDAR and Camera Based on Semantic Segmentation in Automatic Driving Environment

Pengtao Shi^1,2、*, Kangle Wei¹, Hao Wu^1,2, and LiJie¹

Author Affiliations

¹College of Mechanical and Electrical Engineering, Shaanxi University of Science and Technology, Xi'an 710021, Shaanxi , China

²Sichuan Digital Economy Industry Development Research Institute, Chengdu 611336, Sichuan , China

show less

Abstract Get PDF(in Chinese)

Figures&Tables (8)

References (18)

Paper Information

Figures & Tables(8)

Fig. 1. Flowchart of proposed method

Download full size

Fig. 2. Segmentation results

Download full size

Fig. 3. Point cloud projection

Download full size

Fig. 4. Optimization algorithm process

Download full size

Fig. 5. Translation error

Download full size

Fig. 6. Rotatory error

Download full size

Fig. 7. Mean error under disturbance. (a) Mean error under translational disturbance; (b) mean error under rotational disturbance

Download full size

Table 1. Error contrast
View table
Table 1. Error contrast
Method Translation error /m Rotation error /（°）
This 0.08 $0.4$
CRLF 0.18 $0.95$

Tools

Get Citation

Copy Citation Text

Pengtao Shi, Kangle Wei, Hao Wu, LiJie. External Parameter Calibration Method of LiDAR and Camera Based on Semantic Segmentation in Automatic Driving Environment[J]. Laser & Optoelectronics Progress, 2024, 61(24): 2428011

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites

Paper Information

Category: Remote Sensing and Sensors

Received: Mar. 20, 2024

Accepted: May. 20, 2024

Published Online: Dec. 19, 2024

The Author Email:

DOI:10.3788/LOP240934

CSTR:32186.14.LOP240934

Topics

laser devices and laser physics

Lasers and Laser Optics

laser manufacturing

Instrumentation, Measurement and Metrology