Complete Sensitivity Analysis in a LiDAR-Camera Calibration Model

Abstract

This paper presents a sensitivity analysis in the calibration of two sensors: a laser sensor Velodyne HDL-64E and a panoramic camera Point Grey Ladybug2; both sensors are used for three-dimensional urban reconstruction and were calibrated by two techniques; their results are compared in the sensitivity analysis. The effect of each parameter on the errors propagated in our platform reconstruction was analyzed using the simulated and experimental data sets. To compare the calibration parameters, we implement simulation techniques like Monte Carlo (MC) and Latin hypercube sampling (LHS). The sensitivity index for each parameter was calculated by two methods. The Sobol method, which is based on the analysis of the variance breakdown and the Fourier amplitude sensitivity test (FAST) method, based on Fourier analysis. Measures of variability on the simulated and experimental calibration parameters are shown for the calibration techniques implemented. Results on parameters and factors causing higher uncertainty in the calibration process are presented.