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Laser & Optoelectronics Progress, Volume. 55, Issue 2, 022803(2018)

Calibration of Three-Dimensional Lidar Extrinsic Parameters Based on Multiple-Point Clouds Matching

Dongbin Han1,*... Youchun Xu1, Rendong Wang1, Yao Qi1 and Hua Li1 |Show fewer author(s)
Author Affiliations
  • 1 Department of Military Vehicle, Military Transportation University of PLA, Tianjin 300161, China
  • 1 Postgraduate Training Brigade, Military Transportation University of PLA, Tianjin 300161, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (10)
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    References (9)
    Cited By (6)
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    Figures & Tables(10)
    Experimental platform

    Fig. 1. Experimental platform

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    Program flow diagram

    Fig. 2. Program flow diagram

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    Vehicle trajectory diagram

    Fig. 3. Vehicle trajectory diagram

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    Two scene point cloud overlay maps before calibration. (a) Calibration scene 1; (b) calibration scene 2

    Fig. 4. Two scene point cloud overlay maps before calibration. (a) Calibration scene 1; (b) calibration scene 2

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    Variation of several main extrinsic parameters and objective function with the number of iterations in calibration scene 2. (a) x; (b) y; (c) θyaw; (d) J

    Fig. 5. Variation of several main extrinsic parameters and objective function with the number of iterations in calibration scene 2. (a) x; (b) y; (c) θyaw; (d) J

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    Iteration process diagrams in calibration scene 2. (a) Initial range; (b) points of the iteration process; (c) range after moving the iteration center

    Fig. 6. Iteration process diagrams in calibration scene 2. (a) Initial range; (b) points of the iteration process; (c) range after moving the iteration center

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    Two scene point cloud overlay maps after calibration. (a) Calibration scene 1; (b) calibration scene 2

    Fig. 7. Two scene point cloud overlay maps after calibration. (a) Calibration scene 1; (b) calibration scene 2

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    • Table 1. Calibration results using different step lengths and different step counts in calibration scene 1

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      Table 1. Calibration results using different step lengths and different step counts in calibration scene 1

      SteplengthStepcountx /cmy /cmθyaw /(°)θpitch /(°)θroll /(°)J /cm2Time cost /min
      20 cm & 2°17.460124.336-0.5200.070-0.08925.34043.96
      27.422124.434-0.5460.064-0.08825.336316.35
      15 cm & 1.5°18.086123.906-0.0610.073-0.09425.35044.22
      28.005123.972-0.5080.070-0.08225.337617.15
      10 cm & 1°17.461124.336-0.5200.070-0.08925.34043.85
      37.227124.180-0.5410.070-0.08425.338741.56
      5 cm & 0.5°17.461124.336-0.5190.070-0.08925.34043.53
      67.227124.180-0.5410.070-0.08425.3387235.26
      2 cm & 0.2°17.609124.633-0.4890.075-0.08625.33524.05
      15-------

    • Table 2. Calibration results in calibration scene 2

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      Table 2. Calibration results in calibration scene 2

      Calibrationx /cmy /cmθyaw /(°)θpitch /(°)θroll /(°)J /cm2
      Before calibration0000031.223
      After calibration (n=1)8.154-16.8260.0305-0.0210.01630.363
      After calibration (n=5)7.578123.945-0.50700.071-0.08125.339

    • Table 3. Mean value and standard deviation of calibration results for different initial iteration centers

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      Table 3. Mean value and standard deviation of calibration results for different initial iteration centers

      Item mean standardx /cmy /cmθyaw /(°)θpitch /(°)θroll /(°)
      Mean value7.5840124.1520-0.49800.0910-0.0900
      Standard deviation0.45360.63640.00750.00490.0037
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    Dongbin Han, Youchun Xu, Rendong Wang, Yao Qi, Hua Li. Calibration of Three-Dimensional Lidar Extrinsic Parameters Based on Multiple-Point Clouds Matching[J]. Laser & Optoelectronics Progress, 2018, 55(2): 022803

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    Paper Information

    Category: Remote Sensing and Sensors

    Received: Aug. 22, 2017

    Accepted: --

    Published Online: Sep. 10, 2018

    The Author Email: Han Dongbin (hanjalison@126.com)

    DOI:10.3788/LOP55.022803

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology