一种激光雷达和红外摄像头联合标定方法

A Joint Calibration Method of Lidar and Infrared Camera

为快速、准确地将激光雷达和摄像头进行联合标定,提出了一种简便的标定方案,通过在起重机吊具上安装3M贴纸用作标定靶,摄像头配合红外补光灯采集标定靶图片,同时激光雷达扫描标定靶的点云数据,在图像中求取标定靶的圆心,并对应在点云数据中求取标定靶的圆心,运用EPnP算法最终获取激光雷达到摄像头的变换关系,从而将点云数据变换到像素坐标,实现点云和图像之间融合。实践表明,该标定方法能够快速、准确地将摄像头和激光雷达进行联合标定。

In order to joint calibrate the lidar and camera quickly and accurately,a simple calibration scheme is proposed.First,3M sticker is installed on the crane spreader as a calibration target.The camera cooperates with the infrared fill light to collect the pictures of the calibration target,and the lidar scans the point cloud data of the calibration target.Then,the center of the calibration target is obtained in the image and the point cloud data.Finally,EPnP algorithm is used to obtain the transformation relationship from lidar to camera,so as to transform the point cloud data to pixel coordinates and realize the fusion between point cloud and image.Practice shows that this calibration method can calibrate the camera and lidar quickly and accurately.