[go: up one dir, main page]

Zhang et al., 2023 - Google Patents

An overlap-free calibration method for LiDAR-camera platforms based on environmental perception

Zhang et al., 2023

View PDF
Document ID
17528472158007124910
Author
Zhang D
Ma L
Gong Z
Tan W
Zelek J
Li J
Publication year
Publication venue
IEEE Transactions on Instrumentation and Measurement

External Links

Snippet

Indoor environments are challenging for multisensor calibrations. Traditional calibration methods use the target structure for camera and LiDAR calibration. Those approaches not only require pre-processed data and offline calculations, but also face challenges in low …
Continue reading at www.uwaterloo.ca (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
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • 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
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
    • 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
    • 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
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
    • G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically, i.e. tracking systems
    • G01S3/7864—T.V. type tracking systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; optical rangefinders
    • G01C3/02—Details
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

Similar Documents

Publication Publication Date Title
CN112894832B (en) Three-dimensional modeling method, three-dimensional modeling device, electronic equipment and storage medium
CN110070615B (en) Multi-camera cooperation-based panoramic vision SLAM method
JP6002126B2 (en) Method and apparatus for image-based positioning
CN105096386B (en) A wide range of complicated urban environment geometry map automatic generation method
Zhou et al. Comparative analysis of SLAM algorithms for mechanical LiDAR and solid-state LiDAR
Manweiler et al. Satellites in our pockets: an object positioning system using smartphones
Zhang et al. An overlap-free calibration method for LiDAR-camera platforms based on environmental perception
CN110033489A (en) A kind of appraisal procedure, device and the equipment of vehicle location accuracy
CN114323038B (en) Outdoor positioning method integrating binocular vision and 2D lidar
CN112799096A (en) Map construction method based on low-cost vehicle-mounted 2D lidar
Shao et al. Mofis slam: A multi-object semantic slam system with front-view, inertial, and surround-view sensors for indoor parking
Blaser et al. Development of a portable high performance mobile mapping system using the robot operating system
Ceriani et al. Pose interpolation slam for large maps using moving 3d sensors
McManus et al. Towards appearance-based methods for lidar sensors
Khoshelham et al. Vehicle positioning in the absence of GNSS signals: Potential of visual-inertial odometry
Shi et al. Dynam-LVIO: A dynamic-object-aware LiDAR visual inertial odometry in dynamic urban environments
Gao et al. Multi-source data-based 3D digital preservation of largescale ancient chinese architecture: A case report
Chen et al. Low cost and efficient 3D indoor mapping using multiple consumer RGB-D cameras
Li et al. A monocular visual SLAM system augmented by lightweight deep local feature extractor using in-house and low-cost LIDAR-camera integrated device
Lin et al. A LiDAR-camera calibration and sensor fusion method with edge effect elimination
Pirker et al. GPSlam: Marrying Sparse Geometric and Dense Probabilistic Visual Mapping.
CN119779275A (en) Map generation method, device, equipment, storage medium and program product
US20240069203A1 (en) Global optimization methods for mobile coordinate scanners
Yang et al. Robust and accurate visual geo-localization using prior map constructed by handheld LiDAR SLAM with camera image and terrestrial LiDAR point cloud
Biström Comparative analysis of properties of LiDAR-based point clouds versus camera-based point clouds for 3D reconstruction using SLAM algorithms