SceneCalib: Automatic Targetless Calibration of Cameras and Lidars in Autonomous Driving
2023 IEEE International Conference on Robotics and Automation (ICRA)(2023)
摘要
Accurate camera-to-lidar calibration is a requirement for sensor data fusion in many 3D perception tasks. In this paper, we present SceneCalib, a novel method for simultaneous self-calibration of extrinsic and intrinsic parameters in a system containing multiple cameras and a lidar sensor. Existing methods typically require specially designed calibration targets and human operators, or they only attempt to solve for a subset of calibration parameters. We resolve these issues with a fully automatic method that requires no explicit correspondences between camera images and lidar point clouds, allowing for robustness to many outdoor environments. Furthermore, the full system is jointly calibrated with explicit cross-camera constraints to ensure that camera-to-camera and camera-to-lidar extrinsic parameters are consistent.
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关键词
3D perception tasks,automatic targetless calibration,autonomous driving,calibration parameters,calibration targets,camera images,camera-to-lidar calibration,camera-to-lidar extrinsic parameters,explicit cross-camera constraints,fully automatic method,human operators,lidar point clouds,lidar sensor,multiple cameras,SceneCalib,sensor data fusion,simultaneous self-calibration
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