Targetless calibration of a lidar - Perspective camera pair

Levente Tamas, Zoltan Kato

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Citations (Scopus)

Abstract

A novel method is proposed for the calibration of a camera - 3D lidar pair without the use of any special calibration pattern or point correspondences. The proposed method has no specific assumption about the data source: plain depth information is expected from the lidar scan and a simple perspective camera is used for the 2D images. The calibration is solved as a 2D-3D registration problem using a minimum of one (for extrinsic) or two (for intrinsic-extrinsic) planar regions visible in both cameras. The registration is then traced back to the solution of a non-linear system of equations which directly provides the calibration parameters between the bases of the two sensors. The method has been tested on a large set of synthetic lidar-camera image pairs as well as on real data acquired in outdoor environment.

Original languageEnglish
Title of host publicationProceedings - 2013 IEEE International Conference on Computer Vision Workshops, ICCVW 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages668-675
Number of pages8
ISBN (Print)9781479930227
DOIs
Publication statusPublished - Jan 1 2013
Event2013 14th IEEE International Conference on Computer Vision Workshops, ICCVW 2013 - Sydney, NSW, Australia
Duration: Dec 1 2013Dec 8 2013

Publication series

NameProceedings of the IEEE International Conference on Computer Vision

Other

Other2013 14th IEEE International Conference on Computer Vision Workshops, ICCVW 2013
CountryAustralia
CitySydney, NSW
Period12/1/1312/8/13

    Fingerprint

Keywords

  • Calibration
  • Camera
  • Lidar
  • Registration

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition

Cite this

Tamas, L., & Kato, Z. (2013). Targetless calibration of a lidar - Perspective camera pair. In Proceedings - 2013 IEEE International Conference on Computer Vision Workshops, ICCVW 2013 (pp. 668-675). [6755960] (Proceedings of the IEEE International Conference on Computer Vision). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCVW.2013.92