LiDAR-Camera Calibration Under Arbitrary Configurations: Observability and Methods

3D LIDAR-Camera Extrinsic Calibration Using an Arbitrary Trihedron

This paper presents a novel way to address the extrinsic calibration problem for a system composed of a 3D LIDAR and a camera. The relative transformation between the two sensors is calibrated via a nonlinear least squares (NLS) problem, which is formulated in terms of the geometric constraints associated with a trihedral object. Precise initial estimates of NLS are obtained by dividing it into...

IMU-Camera Calibration: Observability Analysis

3D Lidar-Camera Intrinsic and Extrinsic Calibration: Observability Analysis and Analytical Least Squares-based Initialization

This paper addresses the problem of estimating the intrinsic parameters of the 3D Velodyne lidar while at the same time computing its extrinsic calibration with respect to a rigidly connected camera. Existing approaches to solve this nonlinear estimation problem are based on iterative minimization of nonlinear cost functions. In such cases, the accuracy of the resulting solution hinges on the a...

Calibration of RGB Camera With Velodyne LiDAR

Calibration of the LiDAR sensor with RGB camera finds its usage in many application fields from enhancing image classification to the environment perception and mapping. This paper presents a pipeline for mutual pose and orientation estimation of the mentioned sensors using a coarse to fine approach. Previously published methods use multiple views of a known chessboard marker for computing the ...

Sensitivity Analysis in a Lidar- Camera Calibration

In this paper, variability analysis was performed on the model calibration methodology between a multi-camera system and a LiDAR laser sensor (Light Detection and Ranging). Both sensors are used to digitize urban environments. A practical and complete methodology is presented to predict the error propagation inside the LiDAR-camera calibration. We perform a sensitivity analysis in a local and g...