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Extrinsic parameter calibration of 2D LiDAR-camera using edge matching and removal of infrared cut filter
Author(s): Deokkyu Kim; Sungho Kim
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Paper Abstract

Recently, autonomous driving based on multiple sensors has been studied actively in the field of automobiles and unmanned robots. Extrinsic parameter calibration is the first step to integrate the camera with Light Detection And Ranging (LiDAR). This paper proposes an extrinsic parameter calibration method using camera images and single 2D LiDAR points. The removal of infrared cut filter makes the line of laser scan points visible in the camera image. The scan line of the laser points on the calibration target is detected using edge matching in camera images, and the laser points are mapped to the coordinates of image with the initial value of the extrinsic parameters. We estimate the extrinsic parameters using edge matching and top-down method. The proposed method is verified by experiment according to the distance of the target.

Paper Details

Date Published: 7 May 2019
PDF: 9 pages
Proc. SPIE 11018, Signal Processing, Sensor/Information Fusion, and Target Recognition XXVIII, 110181B (7 May 2019); doi: 10.1117/12.2518946
Show Author Affiliations
Deokkyu Kim, Yeungnam Univ. (Korea, Republic of)
Sungho Kim, Yeungnam Univ. (Korea, Republic of)


Published in SPIE Proceedings Vol. 11018:
Signal Processing, Sensor/Information Fusion, and Target Recognition XXVIII
Ivan Kadar; Erik P. Blasch; Lynne L. Grewe, Editor(s)

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