无目标激光雷达-摄像头通过无类边界面罩对齐和基于SPSA的优化进行外部校准
Han-You Jeong1, Woo-Hyuk Son1, Dong-Wook Shin2
1Department of Electrical Engineering, Pusan National University, Busan 46241, Republic of Korea.
Sensors (Basel, Switzerland)
|March 14, 2026
概括
这项研究引入了一种新的无目标LiDAR相机外在校准方法,使用无类边界面罩对齐. 该方法实现了强大而准确的传感器对齐,在具有挑战性的现实条件下超过现有方法.
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:
- 对于LiDAR相机系统而言,无目标的外部校准是很困难的,因为交叉模式对应和初始化灵敏度很差.
- 现有的方法在现实场景中往往难以保持稳定性和效率.
研究的目的:
- 开发一个无目标的激光雷达相机外在校准框架,克服目前的局限性.
- 为了提高自主系统的传感器对齐的准确性和稳定性.
主要方法:
- 一个新的框架,在共享的图像平面表示中使用无类边界面罩对齐.
- 通过图像平面投影构建一致的LiDAR-摄像头面具对.
- 强大的姿势初始化使用边界旋转-只有全球优化.
- 通过计算高效的随机梯度近似来改进外部参数.
主要成果:
- 与基于细分的全球优化相比,在KITTI基准指标上展示了卓越的准确性运行时间权衡.
- 在现实驾驶测试中确认了在振动下稳定的交叉模式对齐和交叉模式定时动.
结论:
- 拟议的无类边界面罩对齐为无目标LiDAR相机外部校准提供了强大而高效的解决方案.
- 这种方法提高了自动驾驶应用的传感器融合的可靠性.
更多相关视频
11:57Three-dimensional Super Resolution Microscopy of F-actin Filaments by Interferometric PhotoActivated Localization Microscopy iPALM
Published on: December 1, 2016
11.3K
07:03Medical-grade Sterilizable Target for Fluid-immersed Fetoscope Optical Distortion Calibration
Published on: February 23, 2017
8.1K
相关概念视频
Calibration Curves: Linear Least Squares
4.9K
A calibration curve is a plot of the instrument's response against a series of known concentrations of a substance. This curve is used to set the instrument response levels, using the substance and its concentrations as standards. Alternatively, or additionally, an equation is fitted to the calibration curve plot and subsequently used to calculate the unknown concentrations of other samples reliably.
For data that follow a straight line, the standard method for fitting is the linear...
For data that follow a straight line, the standard method for fitting is the linear...
4.9K
Instrument Calibration
1.0K
Instrument calibration is essential for ensuring that instruments produce accurate and consistent results. It is vital in manufacturing, healthcare, testing laboratories, and scientific research. Calibration processes are specific to each instrument and help enhance data accuracy. Each instrument has a unique calibration process tailored to its design and function to improve data accuracy.
Analytical Balance Calibration
An analytical balance measures mass and requires regular calibration to...
Analytical Balance Calibration
An analytical balance measures mass and requires regular calibration to...
1.0K
