A Joint Calibration Algorithm for LiDAR Cameras Based on ICP Registration
The joint calibration of LiDAR and camera is the basis for achieving high-precision fusion of collected data.Traditional joint calibration methods often use feature point recognition,which is susceptible to environmental noise and LiDAR resolution issues.This article proposes a joint calibration algorithm based on ICP registration,which uses a designed calibration object template to achieve precise alignment between the actual calibration object point cloud and the calibration object template point cloud through the ICP registration algorithm.Based on the specific corner position of the calibration object template,the actual calibration object point cloud corner coordinates are obtained.On this basis,the conversion matrix between the LiDAR and the camera is solved using the PnP algorithm to convert the point cloud coordinates and pixel coordinates corresponding to the LiDAR and the camera,achieving high-precision joint calibration between the two sensors.The experimental results show that the proposed joint calibration algorithm can effectively improve the joint calibration accuracy between LiDAR and camera,providing a high-precision joint measurement foundation for more accurate target detection and tracking.
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