Recently, autonomous driving based on multiple sensors has been studied actively in the field of automobiles and unmanned robots. Extrinsic parameter calibration is the first step to integrate the camera with Light Detection And Ranging (LiDAR). This paper proposes an extrinsic parameter calibration method using camera images and single 2D LiDAR points. The removal of infrared cut filter makes the line of laser scan points visible in the camera image. The scan line of the laser points on the calibration target is detected using edge matching in camera images, and the laser points are mapped to the coordinates of image with the initial value of the extrinsic parameters. We estimate the extrinsic parameters using edge matching and top-down method. The proposed method is verified by experiment according to the distance of the target.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.