Intrinsic and Extrinsic LiDAR-Camera Calibration in Target-less Environments
Mr. Li Liang
MPhil candidate in the Mechanical Engineering Dept.
Date & Time
Thursday, 28 April 2022
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.
Robotics and Control