Galibr: Targetless LiDAR-Camera Extrinsic Calibration Method via Ground Plane Initialization
Fuente:
arXiv
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866913393568382976 |
|---|---|
| author | Song, Wonho Oh, Minho Lee, Jaeyoung Myung, Hyun |
| author_facet | Song, Wonho Oh, Minho Lee, Jaeyoung Myung, Hyun |
| contents | With the rapid development of autonomous driving and SLAM technology, the performance of autonomous systems using multimodal sensors highly relies on accurate extrinsic calibration. Addressing the need for a convenient, maintenance-friendly calibration process in any natural environment, this paper introduces Galibr, a fully automatic targetless LiDAR-camera extrinsic calibration tool designed for ground vehicle platforms in any natural setting. The method utilizes the ground planes and edge information from both LiDAR and camera inputs, streamlining the calibration process. It encompasses two main steps: an initial pose estimation algorithm based on ground planes (GP-init), and a refinement phase through edge extraction and matching. Our approach significantly enhances calibration performance, primarily attributed to our novel initial pose estimation method, as demonstrated in unstructured natural environments, including on the KITTI dataset and the KAIST quadruped dataset. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_11599 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Galibr: Targetless LiDAR-Camera Extrinsic Calibration Method via Ground Plane Initialization Song, Wonho Oh, Minho Lee, Jaeyoung Myung, Hyun Robotics Computer Vision and Pattern Recognition With the rapid development of autonomous driving and SLAM technology, the performance of autonomous systems using multimodal sensors highly relies on accurate extrinsic calibration. Addressing the need for a convenient, maintenance-friendly calibration process in any natural environment, this paper introduces Galibr, a fully automatic targetless LiDAR-camera extrinsic calibration tool designed for ground vehicle platforms in any natural setting. The method utilizes the ground planes and edge information from both LiDAR and camera inputs, streamlining the calibration process. It encompasses two main steps: an initial pose estimation algorithm based on ground planes (GP-init), and a refinement phase through edge extraction and matching. Our approach significantly enhances calibration performance, primarily attributed to our novel initial pose estimation method, as demonstrated in unstructured natural environments, including on the KITTI dataset and the KAIST quadruped dataset. |
| title | Galibr: Targetless LiDAR-Camera Extrinsic Calibration Method via Ground Plane Initialization |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2406.11599 |