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Automatic Calibration of Multiple 3D LiDARs in Urban Environments
- Source :
- IROS
- Publication Year :
- 2019
- Publisher :
- IEEE, 2019.
-
Abstract
- Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a rich view and dense measurements. However, the lack of precise calibration negatively affects their potential applications. In this paper, we propose a novel system that enables automatic multi-LiDAR calibration method without any calibration target, prior environment information, and manual initialization. Our approach starts with a hand-eye calibration by aligning the motion of each sensor. The initial results are then refined by an appearance-based method by minimizing a cost function constructed by point-plane distance. Experimental results on simulated and real-world data demonstrate the reliability and accuracy of our calibration approach. The proposed approach can calibrate a multi-LiDAR system with the rotation and translation errors less than 0. 04rad and 0. 1m respectively for a mobile platform.
- Subjects :
- 0209 industrial biotechnology
business.industry
Computer science
010401 analytical chemistry
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
Initialization
02 engineering and technology
01 natural sciences
0104 chemical sciences
Rendering (computer graphics)
020901 industrial engineering & automation
Calibration
Computer vision
Artificial intelligence
business
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Accession number :
- edsair.doi...........e0ea210f0783e456505d5db130a977d2