ワンショットで十分：パノラマインフラに基づく複数カメラと3D LiDARのキャリブレーション
Single-Shot is Enough: Panoramic Infrastructure Based Calibration of Multiple Cameras and 3D LiDARs
パノラマ状のキャリブレーション用インフラを構築し、単一フレームのデータだけで複数カメラと3D LiDAR間の外部パラメータを高精度かつ効率的に推定する手法を提案した。
著者: Chuan Fang, Shuai Ding, Zilong Dong, Honghua Li, Siyu Zhu, Ping Tan
分類: cs.RO
原文アブストラクト
The integration of multiple cameras and 3D Li- DARs has become basic configuration of augmented reality devices, robotics, and autonomous vehicles. The calibration of multi-modal sensors is crucial for a system to properly function, but it remains tedious and impractical for mass production. Moreover, most devices require re-calibration after usage for certain period of time. In this paper, we propose a single-shot solution for calibrating extrinsic transformations among multiple cameras and 3D LiDARs. We establish a panoramic infrastructure, in which a camera or LiDAR can be robustly localized using data from single frame. Experiments are conducted on three devices with different camera-LiDAR configurations, showing that our approach achieved comparable calibration accuracy with the state-of-the-art approaches but with much greater efficiency.
