通过双变压器对齐进行无监督的光学传感器外部校准.
Yuhao Wang1, Yong Zuo1, Yi Tang2
1School of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, China.
Sensors (Basel, Switzerland)
|November 27, 2025
概括
我们开发了一个无监督的,端到端的框架,用于校准摄像头和LiDAR传感器. 这种方法在具有挑战性的环境中提高了准确性和稳定性,使得精确的多式联络感知成为可能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 计算机视觉 计算机视觉
- 传感器融合式传感器
背景情况:
- 光学传感器 (摄像头,LiDAR) 之间的精确外部校准对于多式联接感知至关重要.
- 传统的校准方法在具有挑战性的光学条件下 (光,弱光) 难以稳定,需要手动操作.
研究的目的:
- 提出一个完全不受监督的,端到端的框架,用于强大的摄像头-LiDAR外部校准.
- 克服复杂环境和手动干预中传统方法的局限性.
主要方法:
- 一个双变压器架构,利用视觉变压器 (ViT) 进行图像语义和点变压器进行3D点云几何.
- 通过神经网络进行跨模态特征对齐和融合,然后对6-DoF外部转换矩阵进行回归.
- 一个多约束损失函数,以增强模式间结构一致性.
主要成果:
- 在KITTI基准测试中,平均旋转误差为0.21°,翻译误差为3.31cm.
- 在一个自我收集的数据集上,实现了1.52像素的平均再投影错误.
- 与传统方法相比,证明了更好的校准稳定性和准确性.
结论:
- 拟议的框架为光学传感器外部校准提供了可通用和强大的解决方案.
- 在没有手动校准目标的情况下,在现实应用中实现精确和自给自足的感知.
- 突出了无监督,端到端学习对于传感器融合任务的潜力.
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