01865nas a2200181 4500008004100000245006400041210006200105260003300167300001400200520125000214100002001464700001701484700001601501700002401517700001901541700002001560856010301580 2013 eng d00aTargetless Calibration of a Lidar - Perspective Camera Pair0 aTargetless Calibration of a Lidar Perspective Camera Pair aSydney, NSW bIEEEcDec 2013 a668 - 6753 a

A novel method is proposed for the calibration of a camera - 3D lidar pair without the use of any special calibration pattern or point correspondences. The proposed method has no specific assumption about the data source: plain depth information is expected from the lidar scan and a simple perspective camera is used for the 2D images. The calibration is solved as a 2D-3D registration problem using a minimum of one (for extrinsic) or two (for intrinsic-extrinsic) planar regions visible in both cameras. The registration is then traced back to the solution of a non-linear system of equations which directly provides the calibration parameters between the bases of the two sensors. The method has been tested on a large set of synthetic lidar-camera image pairs as well as on real data acquired in outdoor environment.

 

1 aLevente, Tamás1 aKato, Zoltan1 aZhang, Jian1 aBennamoun, Mohammed1 aSchonfeld, Dan1 aZhang, Zhengyou uhttps://home.inf.u-szeged.hu/publication/targetless-calibration-of-a-lidar-perspective-camera-pair