Seminar

Intrinsic and Extrinsic LiDAR-Camera Calibration in Target-less Environments

Speaker

Mr. Li Liang

MPhil candidate in the Mechanical Engineering Dept.

Date & Time

Thursday, 28 April 2022

8:00 am

Venue

Via Zoom

Abstract:

LiDAR and camera sensor fusion is important for autonomous robots to perceive the world. To fuse the measurements from these two sensors, extrinsic calibration is required beforehand. A common approach to register the camera and LiDAR coordinate systems is to align the 3D edges detected by the LiDAR with the 2D edges captured by the camera, and state-of-the-art algorithms can achieve pixel-level precision. However, one practical problem is that inaccurate camera intrinsic parameters would influence the accuracy of extrinsic calibration. Therefore, we propose to conduct camera intrinsic calibration and LiDAR-camera extrinsic calibration simultaneously in target-less environments.

Research Areas:

Robotics and Control

Contact for

Information

Dr. F. Zhang

+(852) 3917 7909

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