基于棋盘格的激光雷达-相机组合系统的便捷标定方法。

A Convenient Calibration Method for LRF-Camera Combination Systems Based on a Checkerboard.

机构信息

Institute of Optics and Electronics of Chinese Academy of Sciences, Chengdu 610209, China.

University of Chinese Academy of Sciences, Beijing 100149, China.

出版信息

Sensors (Basel). 2019 Mar 15;19(6):1315. doi: 10.3390/s19061315.

DOI:10.3390/s19061315

PMID:30884756

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC6470948/

Abstract

In this paper, a simple and easy high-precision calibration method is proposed for the LRF-camera combined measurement system which is widely used at present. This method can be applied not only to mainstream 2D and 3D LRF-cameras, but also to calibrate newly developed 1D LRF-camera combined systems. It only needs a calibration board to record at least three sets of data. First, the camera parameters and distortion coefficients are decoupled by the distortion center. Then, the spatial coordinates of laser spots are solved using line and plane constraints, and the estimation of LRF-camera extrinsic parameters is realized. In addition, we establish a cost function for optimizing the system. Finally, the calibration accuracy and characteristics of the method are analyzed through simulation experiments, and the validity of the method is verified through the calibration of a real system.

摘要

本文针对目前广泛应用的激光雷达相机组合测量系统，提出了一种简单易用的高精度标定方法。该方法不仅适用于主流的 2D 和 3D 激光雷达相机，还可用于标定新开发的 1D 激光雷达相机组合系统。它只需要一个标定板记录至少三组数据。首先，通过失真中心对相机参数和失真系数进行解耦。然后，利用直线和平面约束来求解激光光斑的空间坐标，并实现 LRF 相机外部参数的估计。此外，我们还建立了一个用于优化系统的代价函数。最后，通过仿真实验分析了该方法的标定精度和特性，并通过对真实系统的标定验证了该方法的有效性。