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http://dx.doi.org/10.3745/KTSDE.2019.8.2.89

Calibration of VLP-16 Lidar Sensor and Vision Cameras Using the Center Coordinates of a Spherical Object  

Lee, Ju-Hwan (경북대학교 컴퓨터학부)
Lee, Geun-Mo (경북대학교 컴퓨터학부)
Park, Soon-Yong (경북대학교 컴퓨터학부)
Publication Information
KIPS Transactions on Software and Data Engineering / v.8, no.2, 2019 , pp. 89-96 More about this Journal
Abstract
360 degree 3-dimensional lidar sensors and vision cameras are commonly used in the development of autonomous driving techniques for automobile, drone, etc. By the way, existing calibration techniques for obtaining th e external transformation of the lidar and the camera sensors have disadvantages in that special calibration objects are used or the object size is too large. In this paper, we introduce a simple calibration method between two sensors using a spherical object. We calculated the sphere center coordinates using four 3-D points selected by RANSAC of the range data of the sphere. The 2-dimensional coordinates of the object center in the camera image are also detected to calibrate the two sensors. Even when the range data is acquired from various angles, the image of the spherical object always maintains a circular shape. The proposed method results in about 2 pixel reprojection error, and the performance of the proposed technique is analyzed by comparing with the existing methods.
Keywords
Calibration; Lidar Sensor; Vision Camera; Spherical Object;
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Times Cited By KSCI : 1  (Citation Analysis)
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