基于边缘关联点云的激光雷达与相机外参标定方法.

There are many fields choose to fuse LiDAR point cloud and camera images for applying. The accurate extrinsic calibration is a prerequisite for fusing their information. The point cloud feature extraction is a key step in extrinsic calibration. However, the low resolution and low quality of point clouds can affect the accuracy of calibration results. To address these problems, this paper proposed a LiDAR and camera extrinsic calibration method based on edge correlation point cloud. Firstly, it extracted the edge correlation point cloud of the calibration plate by using dual echoes. Then, it obtained the corner points from the edge correlation point cloud by the optimization method, where the corner points were compatible with the actual calibrated plate size. Finally, it matched the corner points in the point cloud with corner points in the image, and solved the extrinsic parameter between the LiDAR and the camera by the multi-point perspective method. The experimental results show that the reprojection error of the method is 1. 602 px, which is lower than that of comparison methods, verifying the effectiveness and accuracy of the method. [ABSTRACT FROM AUTHOR]