Spatial Pose Calibration Method for Lidar and Camera Based on Intensity Information

Wensong Song; Zonghua Zhang; Nan Gao; Zhaozong Meng

doi:10.3788/LOP202259.0215003

Laser & Optoelectronics Progress, Volume. 59, Issue 2, 0215003(2022)

Spatial Pose Calibration Method for Lidar and Camera Based on Intensity Information

Wensong Song, Zonghua Zhang^*, Nan Gao, and Zhaozong Meng

Author Affiliations

School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China

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Figures & Tables(17)

Fig. 1. Three-dimensional scanning system of the lidar. (a) Coordinate system of the lidar; (b) on-axis coordinate system

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Fig. 2. Distance from the origin of the left and right coordinate systems to the plane

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Fig. 3. Principle of the camera-lidar system

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Fig. 4. Filtering result of the point cloud. (a) Cross-sectional view of the point cloud; (b) processing result of the radius filtering algorithm

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Fig. 5. Coordinate system of the virtual camera

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Fig. 6. Physical image of the camera-lidar system. (a) Front view; (b) back view

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Fig. 7. Effect of parameter verification. (a) Before calibration; (b) after calibration; (c) room model

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Fig. 8. Environment of the joint calibration experiment

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Fig. 9. Grayscale images of different pixel sizes (a) Pixel size is too large; (b) pixel size is too small; (c) pixel size is moderate

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Fig. 10. SIFT feature point matching graph

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Fig. 11. Variation curve of the reprodjection error

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Fig. 12. Result of data fusion. (a) Fusion environment; (b) fusion effect

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Table 1. Camera parameters after calibration
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Table 1. Camera parameters after calibration
Parameter $f_{x}$ $f_{y}$ $C_{x}$ $C_{y}$
Calibration result 1055.5179 1052.952 649.637 485.239

Table 2. Self-calibration results of lidar
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Table 2. Self-calibration results of lidar
Calibration parameter $θ /$ （°） $β /$ （°） $∆ x /$ m $∆ y /$ m
Calibration result 1.41 -0.15 0. 001 0.002

Table 3. Comparison of room size
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Table 3. Comparison of room size
Length Width Height
Measured value Error Measured value Error Measured value Error
646.9 1.6 622.7 1.3 259.7 1.5

Table 4. Calibration result
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Table 4. Calibration result
Rotation matrix Translation matrix
$R = [\begin{matrix} 0.9993 & - 0.0003 & - 0.0367 \\ - 0.0367 & - 0.0070 & - 0.9993 \\ 0.0001 & 1.0000 & - 0.0070 \end{matrix}]$ $T = [- 0.008271,0.096104, - 0.00883505]$

Table 5. Reprojection errors of different methods
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Table 5. Reprojection errors of different methods
Method Number of checkers
Reprojection
error /pixel
Ours 0 2.29
Ref.［16］ 6 3.51

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Wensong Song, Zonghua Zhang, Nan Gao, Zhaozong Meng. Spatial Pose Calibration Method for Lidar and Camera Based on Intensity Information[J]. Laser & Optoelectronics Progress, 2022, 59(2): 0215003

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