一种基于棋盘格标定板的激光雷达-相机标定方法

A LiDAR-camera Calibration Method Based on Checkerboard Calibration Board

激光雷达-相机标定作为各类融合算法的基础,校准结果直接影响融合性能。依据外部校准理论,论文提出了一种基于目标物(棋盘格标定板)的激光雷达-相机标定方法。该方法针对点云的稀疏性,利用时域积分从多帧点云数据中提取特征。根据棋盘格点云的反射强度分布约束,使用棋盘测量估计三维角点。结合图像中检测的二维角点,将两种角点顺序对应之后,通过求解非线性优化问题来生成外部校准矩阵。实验结果表明,该方法可以在受控环境下进行准确、稳定地标定。

LiDAR-camera calibration is the basis of various fusion algorithms and calibration results directly affect fusion per-formance.According to the external calibration theory,a target-based(checkboard)LiDAR-camera calibration method is proposed in this paper.Due to the sparsity of point clouds,the method uses time-domain integration to extract features from multi-frame point clouds.According to the constraint of reflection intensity distribution of point clouds on the checkerboard,the checkerboard measurement is used to estimate 3D corners.Combining 2D corners detected in the image,after corresponding corners in order,an external calibration matrix is generated by solving the nonlinear optimization problem.The experiments show that the method can perform accurate and stable calibration in a controlled environment.