[go: up one dir, main page]

Li et al., 2023 - Google Patents

Joint intrinsic and extrinsic LiDAR-camera calibration in targetless environments using plane-constrained bundle adjustment

Li et al., 2023

View PDF
Document ID
15360516248293462418
Author
Li L
Li H
Liu X
He D
Miao Z
Kong F
Li R
Liu Z
Zhang F
Publication year
Publication venue
arXiv preprint arXiv:2308.12629

External Links

Snippet

This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method leverages LiDAR point cloud measurements from planes in the scene, alongside visual …
Continue reading at arxiv.org (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/62—Methods or arrangements for recognition using electronic means
    • G06K9/6201—Matching; Proximity measures
    • G06K9/6202—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/36—Image preprocessing, i.e. processing the image information without deciding about the identity of the image
    • G06K9/46—Extraction of features or characteristics of the image
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformation in the plane of the image, e.g. from bit-mapped to bit-mapped creating a different image
    • G06T3/0068—Geometric image transformation in the plane of the image, e.g. from bit-mapped to bit-mapped creating a different image for image registration, e.g. elastic snapping

Similar Documents

Publication Publication Date Title
Li et al. A multiple-camera system calibration toolbox using a feature descriptor-based calibration pattern
Muñoz-Bañón et al. Targetless camera-LiDAR calibration in unstructured environments
EP2116975B1 (en) Method and apparatus for vision based motion determination
CN112233177B (en) A method and system for estimating position and attitude of unmanned aerial vehicle
Alismail et al. Automatic calibration of a range sensor and camera system
Yan et al. Joint camera intrinsic and lidar-camera extrinsic calibration
Goncalves et al. A visual front-end for simultaneous localization and mapping
US8824775B2 (en) Robot and control method thereof
Xie et al. Infrastructure based calibration of a multi-camera and multi-lidar system using apriltags
Heng et al. Infrastructure-based calibration of a multi-camera rig
Liao et al. Extrinsic calibration of lidar and camera with polygon
Zhang et al. Depth sensing beyond lidar range
JP6782903B2 (en) Self-motion estimation system, control method and program of self-motion estimation system
Li et al. Joint intrinsic and extrinsic lidar-camera calibration in targetless environments using plane-constrained bundle adjustment
Hoang et al. Simple and efficient method for calibration of a camera and 2D laser rangefinder
Wang et al. Non-iterative SLAM
Zhao et al. Homography-based camera pose estimation with known gravity direction for UAV navigation
Chen et al. PBACalib: Targetless extrinsic calibration for high-resolution LiDAR-camera system based on plane-constrained bundle adjustment
Kleinschmidt et al. Visual multimodal odometry: Robust visual odometry in harsh environments
Tang et al. Robust calibration of vehicle solid-state LiDAR-camera perception system using line-weighted correspondences in natural environments
Zhang et al. Stereo visual inertial mapping algorithm for autonomous mobile robot
Naikal et al. Image augmented laser scan matching for indoor dead reckoning
Chien et al. Regularised energy model for robust monocular ego-motion estimation.
Wang et al. Calibrated Kinect sensors for robot simultaneous localization and mapping
Pirahansiah et al. Camera Calibration and Video Stabilization Framework for Robot Localization