首页|Automatic Miscalibration Detection and Correction of LiDAR and Camera Using Motion Cues
Automatic Miscalibration Detection and Correction of LiDAR and Camera Using Motion Cues
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This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm that can continuously detect the miscalibration in each frame is designed,leveraging the rotational motion each individual sensor observes.Then,as sensor drift occurs,the projection constraints between visual feature points and LiDAR 3-D points are used to compute the scaled camera motion,which is further utilized to align the drifted LiDAR scan with the camera image.Finally,the proposed method is sufficiently compared with two representative approaches in the online experiments with varying levels of random drift,then the method is further extended to the offline cali-bration experiment and is demonstrated by a comparison with two existing benchmark methods.
Autonomous vehicleLiDAR and cameraMiscalibration detection and correctionSensor drift
Pai Peng、Dawei Pi、Guodong Yin、Yan Wang、Liwei Xu、Jiwei Feng
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School of Mechanical Engineering,Southeast University,Nanjing 211102,China
School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210014,China
School of Mechanical and Aerospace Engineering,Nanyang Technological University,Singapore,Singapore
NETL
NSTL
万方数据
