ターゲットレス環境における平面拘束バンドル調整を用いたLiDAR-カメラの内部・外部同時キャリブレーション
Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment
平面上のLiDAR点群と画像特徴点を統合したバンドル調整により、ターゲットなしでLiDARとカメラの内部・外部パラメータを同時に高精度推定する手法を提案した。
著者: Liang Li, Haotian Li, Xiyuan Liu, Dongjiao He, Ziliang Miao, Fanze Kong, Rundong Li, Zheng Liu, Fu Zhang
分類: cs.RO
原文アブストラクト
This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method leverages LiDAR point cloud measurements from planes in the scene, alongside visual points derived from those planes. The core novelty of our method lies in the integration of visual BA with the registration between visual points and LiDAR point cloud planes, which is formulated as a unified optimization problem. This formulation achieves concurrent intrinsic and extrinsic calibration, while also imparting depth constraints to the visual points to enhance the accuracy of intrinsic calibration. Experiments are conducted on both public data sequences and self-collected dataset. The results showcase that our approach not only surpasses other state-of-the-art (SOTA) methods but also maintains remarkable calibration accuracy even within challenging environments. For the benefits of the robotics community, we have open sourced our codes.
