单目摄像机与三维激光雷达联合标定的研究

Research on the Joint Calibration of Monocular Camera and 3D Lidar

关键词:  联合标定  单目摄像机  三维激光雷达  平面特征  匹配融合

Key words:  Joint calibration  Monocular camera  3D lidar  Plane feature  Match and fusion

摘要:

为解决单目摄像机与三维激光雷达组成的传感系统中数据匹配的问题，文章采用基于平面特征的方法实现了两传感器的联合标定，提出了通过优化平面靶标摆放位置来减少样本数量并提高样本质量，保证标定精度的方法。通过建立数学模型和实验验证了本文方法及算法的正确性，当靶标位置均匀分布在摄像机视场内，并且法向量方向均匀分布在四个象限时，只需4个标定位置即可完成参数求解，且标定误差与使用16个位置时相当。

Abstract:

To solve the problem of data matching in the sensor system composed of monocular camera and 3D lidar，we accomplish the joint calibration of the two sensors using the method basing on the planar feature and present a method to reduce the amount and improve the quality of samples by optimizing the position of calibration board in this paper.We prove the method and the algorithm by founding the mathematical model and simulation and experiments.The error appears minor when the positions of the board scatter evenly in the camera field of view and just need 4 calibration positions to accomplish the calibration.