Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 8
2537-2542

Extrinsic parameter calibration of LiDAR and camera based on edge correlation point cloud

Feng Xin1
Li Jie1
Yu Chongsheng2,3
Qian Jiye4
He Ying1,3
1. School of Computer & Engineering, Chongqing University of Technology, Chongqing 400054, China
2. Chinese Academy of Sciences Chongqing Green Intelligent Technology Research Institute, Chongqing 400714, China
3. Chongqing Zhizhi Technology Co. , Ltd. , Chongqing 400025, China
4. State Grid Chongqing Electric Power Research Institute, Chongqing 400014, China
DOI: 10.19734/j.issn.1001-3695.2022.12.0793

Abstract

There are many fields choose to fuse LiDAR point cloud and camera images for applying. The accurate extrinsic calibration is a prerequisite for fusing their information. The point cloud feature extraction is a key step in extrinsic calibration. However, the low resolution and low quality of point clouds can affect the accuracy of calibration results. To address these problems, this paper proposed a LiDAR and camera extrinsic calibration method based on edge correlation point cloud. Firstly, it extracted the edge correlation point cloud of the calibration plate by using dual echoes. Then, it obtained the corner points from the edge correlation point cloud by the optimization method, where the corner points were compatible with the actual calibrated plate size. Finally, it matched the corner points in the point cloud with corner points in the image, and solved the extrinsic parameter between the LiDAR and the camera by the multi-point perspective method. The experimental results show that the reprojection error of the method is 1.602px, which is lower than that of comparison methods, verifying the effectiveness and accuracy of the method.

Foundation Support

国家电网公司总部科技项目(5500-202119489A-0-5-ZN)
重庆市技术创新与应用发展重点项目(cstc2021jscx-dxwtBX0018)
重庆英才计划资助项目(cstc2022ycjh-bgzxm0212)
重庆理工大学科研启动基金资助项目(0103210303)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.12.0793
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 8
Section: Technology of Graphic & Image
Pages: 2537-2542
Serial Number: 1001-3695(2023)08-047-2537-06

Publish History

[2023-02-27] Accepted Paper
[2023-08-05] Printed Article

Cite This Article

冯欣, 李杰, 余崇圣, 等. 基于边缘关联点云的激光雷达与相机外参标定方法 [J]. 计算机应用研究, 2023, 40 (8): 2537-2542. (Feng Xin, Li Jie, Yu Chongsheng, et al. Extrinsic parameter calibration of LiDAR and camera based on edge correlation point cloud [J]. Application Research of Computers, 2023, 40 (8): 2537-2542. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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