一种基于双平行平面的激光雷达和摄像机标定方法
来源期刊：中南大学学报(自然科学版)2012年第12期
论文作者：彭梦 蔡自兴
文章页码：4735 - 4742
关键词：激光雷达；摄像机；联合标定
Key words：laser radar; camera; joint calibration
摘 要：针对单线激光雷达和摄像头的外参数估计问题，提出一种基于双平行平面的标定方法，标定过程分为单传感器相对车体位姿的标定和多传感器联合标定2个部分。利用激光雷达在双平行的平面标定板上的扫描信息，获取激光雷达相对于车体的俯仰角度和偏转角度；通过黑白棋盘格获取摄像头相对于车体的姿态外参数；最后综合前两步的结果和两种传感器在车体的精确安装位置，对激光雷达、摄像头和车体进行联合标定。本文提出的方法只要让标定物放置于车体正前方，采集一次数据就能满足整个标定过程，实现多个传感器的联合标定。实验结果表明，该方法的标定精度较高，简单实用。
Abstract: An effective algorithm for calibrating the extrinsic parameters between a camera and a laser radar mounted on a vehicle was studied. The calibration process was composed of two successive steps, i.e. calibration of each sensor with respect to vehicle coordinate system and joint calibration of both sensor later. Firstly, according to the laser scanning data responding to double parallel calibration boards, the pitch degree and yaw degree of laser radar with respect to vehicle coordinate system can be computed. Secondly the extrinsic parameters between a camera and vehicle coordinate system were computed employing a planar checkerboard pattern. Lastly, the joint calibration of whole system including laser radar, camera, and vehicle was realized by integrating the two previous steps. This proposed method can complete the whole system calibration with only scanning data of laser and camera responding to the calibration target one time. The simulation and experimental results show that the proposed method can achieve calibration result with high precision.
彭梦，蔡自兴
(中南大学 信息科学与技术学院，湖南 长沙，410083)
摘 要：针对单线激光雷达和摄像头的外参数估计问题，提出一种基于双平行平面的标定方法，标定过程分为单传感器相对车体位姿的标定和多传感器联合标定2个部分。利用激光雷达在双平行的平面标定板上的扫描信息，获取激光雷达相对于车体的俯仰角度和偏转角度；通过黑白棋盘格获取摄像头相对于车体的姿态外参数；最后综合前两步的结果和两种传感器在车体的精确安装位置，对激光雷达、摄像头和车体进行联合标定。本文提出的方法只要让标定物放置于车体正前方，采集一次数据就能满足整个标定过程，实现多个传感器的联合标定。实验结果表明，该方法的标定精度较高，简单实用。
关键词：激光雷达；摄像机；联合标定
PENG Meng, CAI Zi-xing
(School of Information Science and Engineering, Central South University, Changsha 410083, China)
Abstract:An effective algorithm for calibrating the extrinsic parameters between a camera and a laser radar mounted on a vehicle was studied. The calibration process was composed of two successive steps, i.e. calibration of each sensor with respect to vehicle coordinate system and joint calibration of both sensor later. Firstly, according to the laser scanning data responding to double parallel calibration boards, the pitch degree and yaw degree of laser radar with respect to vehicle coordinate system can be computed. Secondly the extrinsic parameters between a camera and vehicle coordinate system were computed employing a planar checkerboard pattern. Lastly, the joint calibration of whole system including laser radar, camera, and vehicle was realized by integrating the two previous steps. This proposed method can complete the whole system calibration with only scanning data of laser and camera responding to the calibration target one time. The simulation and experimental results show that the proposed method can achieve calibration result with high precision.
Key words:laser radar; camera; joint calibration
