Abstract
The fusion of 3D LiDAR and colour cameras requires the most accurate possible calibration of external parameters. In this paper, we reduce the edge errors of the LiDAR by selecting planar feature constraints. A new calibrator is used in the execution of our approach. A checkerboard calibration board is used to firstly solve the camera’s internal parameters. Next, a regular pyramid with checkerboard on three sides and a checkerboard calibration board is used as the calibrator to scan, extract the intersection of four planes as the feature points, and finally solve the external parameters of the LiDAR and the camera by registering the feature points. In addition, the method collects and processes multiple sets of data and introduces a global optimisation mechanism for loop closure detection to reduce cumulative errors.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.