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Measuring Spatially- and Directionally-varying Light Scattering from Biological Material

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Ca: Simple and Accurate LiDAR-RGB Calibration Using Small Common Markers.

Emanuele Giacomini¹, Leonardo Brizi¹, Luca Di Giammarino¹

¹Department of Computer, Control, and Management Engineering "Antonio Ruberti", Sapienza University of Rome, 00185 Rome, Italy.

Sensors (Basel, Switzerland)

|February 10, 2024

Summary

This summary is machine-generated.

This study introduces a simpler method for calibrating LiDAR and RGB sensors using standard checkerboard targets. This approach enhances sensor fusion accuracy without complex equipment, even in unconstrained environments.

Keywords:

LiDAR camera extrinsic calibration

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Area of Science:

Robotics
Computer Vision
Sensor Fusion

Background:

Accurate sensor fusion requires precise knowledge of relative sensor positions.
Current LiDAR-RGB calibration methods often need complex targets, limiting usability in diverse environments.

Purpose of the Study:

To develop a robust and simple LiDAR-RGB calibration method using common targets.
To reduce human intervention in the calibration process.

Main Methods:

Exploiting the flatness of a standard A3 chessboard target.
Establishing correspondences between LiDAR and RGB sensor measurements.
Utilizing nonlinear optimization for relative pose estimation.

Main Results:

Achieved robust feature extraction from sparse LiDAR data.
Demonstrated calibration performance on par with or superior to existing methods.
Validated the approach through quantitative and comparative experiments.

Conclusions:

The proposed method offers an effective and simplified solution for LiDAR-RGB calibration.
This technique is suitable for scenarios where complex calibration targets are impractical.