数据驱动摄像机-LiDAR校准在数据收集车辆中的多层次优化
Zijie Jiang1, Zhongliang Cai1, Nian Hui1
1School of Resource and Environmental Sciences, Wuhan University, Wuhan 430079, China.
Sensors (Basel, Switzerland)
|November 14, 2023
概括
这项研究引入了一种新的摄像机-LiDAR校准模型,可以克服用于准确数据融合的初始参数不佳. 该方法在各种环境中提高了效率和准确性,使自主系统受益.
科学领域:
- 机器人和计算机视觉 机器人和计算机视觉
- 传感器的融合和校准.
背景情况:
- 精确的摄像头-激光雷达校准对于在自动驾驶等应用中有效的数据融合至关重要.
- 数据驱动的校准方法提供了适应性,但与低于最佳的初始化参数作斗争.
- 现有方法对初始化问题的敏感性阻碍了校准准确性和效率.
研究的目的:
- 为摄像机-LiDAR校准提出一种新的一般模型,该模型解决了次优参数初始化问题.
- 提高数据驱动校准技术的准确性和效率.
- 开发一种可适应各种传感器配置的多功能校准方法.
主要方法:
- 开发了一个通用的摄像机-LiDAR校准模型,抽象技术复杂性.
- 引入了一个改进的目标函数,以减轻次优参数初始化.
- 实现了多级参数优化算法,以实现平衡的准确性和效率.
主要成果:
- 拟议的方法有效地减轻了低于最佳的初始校准参数的影响.
- 取得了非常准确和高效的摄像机-LiDAR校准结果.
- 在不同的传感器配置中展示了多功能性和适应性.
结论:
- 这种新的校准方法为摄像机-LiDAR系统提供了显著的进步.
- 该技术适用于各种应用,包括自动驾驶,机器人和计算机视觉.
- 解决了当前数据驱动校准方法的关键局限性.
相关概念视频
Differential Leveling
189
Differential leveling is a precise method in surveying used to determine the elevation difference between two points. Its primary goal is to establish accurate vertical measurements to create level surfaces or grade lines critical for designing and constructing infrastructures such as roads, bridges, and buildings.The procedure for differential leveling begins with setting up and leveling the instrument at a point where the benchmark can be seen. The level rod is held on the benchmark (BM), and...
189
Common Leveling Mistakes and Errors
77
A survey team is tasked with determining the elevation difference between points Point A and Point B, separated by uneven terrain. They use a leveling instrument and a leveling rod.Common MistakesMisreading the Rod: During a backsight reading at Point A, the instrumentman observes the rod partially obscured by tall grass. Instead of reading 1.135 m, they mistakenly record 1.735 m due to the misalignment of the crosshair with the wrong graduation. This error adds 0.600 m to all subsequent...
77
Leveling Equipment
89
As leveling involves measuring vertical distances relative to a horizontal line of sight, it requires a graduated rod, called a level rod, for vertical measurements and an instrument called a level for a horizontal sight line. A level includes a high-powered telescope with a mechanism for leveling to ensure the line of sight is horizontal when the bubble in the spirit level is centered. Leveling rods, made of wood, metal, or fiberglass, are graduated in feet or meters and commonly used in two-...
89


