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Vehicle-Motion-Constraint-Based Visual-Inertial-Odometer Fusion With Online Extrinsic Calibration
IEEE Sensors Journal, 2023Autonomous positioning in complex urban areas is a challenging problem and has attracted increasing attention in academia. Multisensor fusion of camera, inertial measurement unit (IMU), and wheel odometer has been a prevailing solution that is not only ...
Hang Zhao, Xinchun Ji, Dongyan Wei
semanticscholar +1 more source
Extrinsic 6DoF calibration of 3D LiDAR and radar
2017 European Conference on Mobile Robots (ECMR), 2017Environment perception is a key component of any autonomous system and is often based on a heterogeneous set of sensors and fusion thereof, for which extrinsic sensor calibration plays fundamental role. In this paper, we tackle the problem of 3D LiDAR–radar calibration which is challenging due to low accuracy and sparse informativeness of the radar ...
Petrović, Ivan +2 more
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IEEE Robotics and Automation Letters
As solid-state LiDAR technology advances, mobile robotics and autonomous driving increasingly rely on multiple solid-state LiDARs for perception. However, limited or non-overlapping fields of view (FoV) among these sensors pose significant challenges for
Jie Xu +7 more
semanticscholar +1 more source
As solid-state LiDAR technology advances, mobile robotics and autonomous driving increasingly rely on multiple solid-state LiDARs for perception. However, limited or non-overlapping fields of view (FoV) among these sensors pose significant challenges for
Jie Xu +7 more
semanticscholar +1 more source
Extrinsic calibration of a ground penetrating radar
2016 IEEE International Conference on Automation Science and Engineering (CASE), 2016To develop a multi-modal in-traffic bridge deck scanning device, we need to calibrate extrinsic parameters of a ground penetrating radar (GPR). GPR output is in a non-Euclidean coordinate system because it only detects underground objects relative to road surface.
Chieh Chou +3 more
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Line-based Automatic Extrinsic Calibration of LiDAR and Camera
IEEE International Conference on Robotics and Automation, 2021Reliable real-time extrinsic parameters of 3D Light Detection and Ranging (LiDAR) and camera are a key component of multi-modal perception systems. However, extrinsic transformation may drift gradually during operation, which can result in decreased ...
X. Zhang +4 more
semanticscholar +1 more source
IEEE transactions on intelligent transportation systems (Print)
With the benefits of compact size and cost effectiveness, the solid-state LiDAR (SSL) has emerged as the preferred choice for the mass-produced vehicles with advanced driver assistance systems (ADAS). To ensure precise and dependable mapping for ADAS, it
Weikang Yang +3 more
semanticscholar +1 more source
With the benefits of compact size and cost effectiveness, the solid-state LiDAR (SSL) has emerged as the preferred choice for the mass-produced vehicles with advanced driver assistance systems (ADAS). To ensure precise and dependable mapping for ADAS, it
Weikang Yang +3 more
semanticscholar +1 more source
IEEE Transactions on Instrumentation and Measurement
For those systems consisting of cameras and LiDAR, extrinsic calibration is unavoidable. Traditional methods usually start from a known initial pose and alternately optimize the extrinsic parameters of these sensors.
Le Zhou +3 more
semanticscholar +1 more source
For those systems consisting of cameras and LiDAR, extrinsic calibration is unavoidable. Traditional methods usually start from a known initial pose and alternately optimize the extrinsic parameters of these sensors.
Le Zhou +3 more
semanticscholar +1 more source
Accurate and Automatic Extrinsic Calibration for a Monocular Camera and Heterogenous 3D LiDARs
IEEE Sensors Journal, 2022Nowadays, portable cameras and LiDARs are widely applied in robotic applications for environment perception, path planning, and high precision navigation.
Xingxing Li +5 more
semanticscholar +1 more source
Automated Extrinsic Calibration of Multi-Cameras and LiDAR
IEEE Transactions on Instrumentation and MeasurementIn intelligent driving systems, the multisensor fusion perception system comprising multiple cameras and LiDAR has become a crucial component. It is essential to have stable extrinsic parameters among devices in a multisensor fusion system to achieve all-
Xinyu Zhang +8 more
semanticscholar +1 more source
Joint Intrinsic and Extrinsic Calibration of Perception Systems Utilizing a Calibration Environment
IEEE Robotics and Automation LettersBasically all multi-sensor systems must calibrate their sensors to exploit their full potential for state estimation such as mapping and localization. In this letter, we investigate the problem of extrinsic and intrinsic calibration of perception systems.
Louis Wiesmann +4 more
semanticscholar +1 more source