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Erschienen in:
2017 | OriginalPaper | Buchkapitel
Online High-Accurate Calibration of RGB+3D-LiDAR for Autonomous Driving
verfasst von : Tao Li, Jianwu Fang, Yang Zhong, Di Wang, Jianru Xue
Erschienen in: Image and Graphics
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Abstract
Vision+X has become the promising tendency for scene understanding in autonomous driving, where X may be the other non-vision sensors. However, it is difficult to utilize all the superiority of different sensors, mainly because of the heterogenous, asynchronous properties. To this end, this paper calibrates the commonly used RGB+3D-LiDAR data by synchronization and an online spatial structure alignment, and obtains a high-accurate calibration performance. The main highlights are that (1) we rectify the 3D points with the aid of differential inertial measurement unit (IMU), and increase the frequency of 3D laser data as the same as the ones of RGB data, and (2) this work can online high-accurately updates the external parameters of calibration by a more reliable spatial-structure matching of RGB and 3D-LiDAR data. By experimentally in-depth analysis, the superiority of the proposed method is validated.