Optimization Design of Joint Calibration for Roadside Multi-sensor Fusion
Author:
Affiliation:

1.Jili Automotive Research Institute, Ningbo 315336, China;2.School of Electronics and Information Engineering, Tongji University, Shanghai 201804, China

Clc Number:

U495

  • Article
  • | |
  • Metrics
  • |
  • Reference [21]
  • |
  • Related [20]
  • | | |
  • Comments
    Abstract:

    In the roadside perception, the traffic scene is complex and changeable, and a single type of sensors cannot meet the requirement of all-weather and all-day work. Therefore, the multi-sensor fusion has gradually become a development trend, which is on the premise that the joint calibration among sensors should be achieved. In this paper, by placing markers in the common view area of lidar and camera, the point cloud coordinate and corresponding pixel coordinate of feature points are obtained, and external parameters between lidar and camera are obtained by EPnP (Efficient Perspective-n-Points) algorithm. The point cloud of the lidar on the road surface is up-sampled, and corresponding pixel coordinates are generated according to the matrix of the joint calibration. The model is trained to fit the point cloud and pixel by using the algorithm of decision tree regression and random forests regression, and then the pixel coordinate is converted to WGS84 coordinate according to the results of lidar calibration. This method does not need the integration of lidar and camera. The effectiveness of the proposed joint calibration scheme is verified by the experiment.

    Reference
    [1] HEIDARSSON H K, SUKHATME G S. Active online calibration of multiple sensors for autonomous surface vessels[M]. Berlin: Springer International Publishing, 2016.
    [2] RODRIGUEZ-GARAVITO C H, PONZ A, GARCIA F, et al. Automatic laser and camera extrinsic calibration for data fusion using road plane[C]// 17th International Conference on Information Fusion. Piscataway: IEEE, 2014:1-6.
    [3] ZHANG Q, PLESS R. Extrinsic calibration of a camera and laser range finder (improves camera calibration) [C]// 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Piscataway: IEEE, 2004:2301-2306.
    [4] VASCONCELOS F, BARRETO J P, NUNES U. A minimal solution for the extrinsic calibration of a camera and a laser-rangefinder[J]. IEEE Transactions on Software Engineering, 2012, 34(11): 2097.
    [5] SANG U P, CHUNG M J. Extrinsic calibration between a 3D laser scanner and a camera using PCA method[C]// International Conference on Ubiquitous Robots & Ambient Intelligence. Piscataway: IEEE, 2013:527-528.
    [6] 项志宇, 郑路. 摄像机与3D激光雷达联合标定的新方法[J]. 浙江大学学报(工学版), 2009, 43(8): 5.XIANG Zhiyu, ZHENG Lu. A new method for joint calibration of camera and 3D lidar[J]. Journal of Zhejiang University (Engineering Edition),2009,43(8):5.
    [7] PARK Y, YUN S, WON C, et al. Calibration between color camera and 3D LIDAR instruments with a polygonal planar board[J]. Sensors, 2014, 14(3):5333.
    [8] 陈凯阳,李航,彭程,等.一种三维激光雷达与双目相机的联合标定方法[J].软件导刊,2021,20(12):152.CHEN Kaiyang, LI Hang, PENG Cheng, et al. A joint calibration method of 3D LiDAR and binocular camera[J]. Software Guide,2021,20(12):152.
    [9] ZHOU L, LI Z, KAESS M. Automatic extrinsic calibration of a camera and a 3D LiDAR using line and plane correspondences[C]// 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Piscataway: IEEE, 2018:5563-5569.
    [10] DHALL A, CHELANI K, RADHAKRISHNAN V, et al. LiDAR-camera calibration using 3D-3D point correspondences[J]. arXiv preprint arXiv:1705.09785, 2017.
    [11] 许小徐, 黄影平, 胡兴. 智能汽车激光雷达和相机数据融合系统标定[J]. 光学仪器, 2019, 41(6):8.XU Xiaoxu, HUANG Yingping, HU Xing. Calibration of LIDAR and camera data fusion system for smart vehicles[J]. Optical Instruments, 2019, 41(6):8.
    [12] PEREIRA M, SILVA D, SANTOS V, et al. Self calibration of multiple LIDARs and cameras on autonomous vehicles[J]. Robotics and Autonomous Systems, 2016, 83: 326.
    [13] 王鑫,李伟,梁炜,等.单目相机?IMU?机械臂的空间联合标定方法[J].仪器仪表学报,2021,42:221.WANG Xin, LI Wei, LIANG Wei, et al. Spatial joint calibration method of monocular camera-IMU-mechanical arm[J]. Journal of Instrumentation, 2021, 42:221.
    [14] 薛艺舟. 面向自动驾驶的激光雷达与相机联合标定方法研究[D]. 北京:北京建筑大学,2021.XUE Yizhou. Research on the joint calibration method of LiDAR and camera for automatic driving [D]. Beijing: Beijing Architecture University, 2021.
    [15] DEBATTISTI S, MAZZEI L, PANCIROLI M. Automated extrinsic laser and camera inter-calibration using triangular targets[C]// Intelligent Vehicles Symposium (IV). Piscataway: IEEE, 2013. DOI: 10.1109/IVS.2013.6629548.
    [16] VASCONCELOS F, BARRETO J P, NUNES U. A minimal solution for the extrinsic calibration of a camera and a laser-rangefinder[J]. IEEE Transactions on Software Engineering, 2012, 34(11): 2097.
    [17] PEREIRA M, SILVA D, SANTOS V, et al. Self calibration of multiple LIDARs and cameras on autonomous vehicles[J]. Robotics and Autonomous Systems, 2016, 83: 326.
    [18] PUSZTAI Z, HAJDER L. Accurate calibration of LiDAR-camera systems using ordinary boxes[C]// IEEE International Conference on Computer Vision Workshop. Piscataway: IEEE, 2018: 394-402.
    [19] 黄强,潘常春,裴凌,等.基于可重构标定板的激光与视觉联合标定方法[J].导航定位与授时,2021,8(3):27.HUANG Qiang, PAN Changchun, PEI Ling, et al. Joint laser and vision calibration method based on reconfigurable calibration plate[J]. Navigation, Positioning and Timing,2021,8(3):27.
    [20] LEPETIT V, MORENO-NOGUER F, FUA P. EPnP: an accurate O(n) solution to the PnP problem[J]. International Journal of Computer Vision, 2009, 81: 155.
    [21] ZHANG Z. Flexible camera calibration by viewing a plane from unknown orientations[C]// Seventh IEEE International Conference on Computer Vision. Piscataway: IEEE, 1999: 666-673.
    Cited by
    Comments
    Comments
    分享到微博
    Submit
Get Citation

SHE Feng, YANG Guiyong, LIU Jianhu, WANG Ping. Optimization Design of Joint Calibration for Roadside Multi-sensor Fusion[J].同济大学学报(自然科学版),2024,52(11):1750~1757

Copy
Share
Article Metrics
  • Abstract:51
  • PDF: 151
  • HTML: 1034
  • Cited by: 0
History
  • Received:November 13,2023
  • Online: December 03,2024
Article QR Code