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카메라-라이다 센서 융합을 위한 캘리브레이션 기법 소개open accessMulti-Sensor Calibration Techniques for Camera-LiDAR Sensor Fusion
- Other Titles
- Multi-Sensor Calibration Techniques for Camera-LiDAR Sensor Fusion
- Issue Date
- Oct-2022
- Publisher
- 한국자동차공학회
- Keywords
- Autonomous driving; Sensor fusion; Calibration; Deep-learning; Camera; LiDAR; 자율주행; 센서융합; 캘리브레이션; 딥러닝; 카메라; 라이다
- Citation
- 한국자동차공학회 논문집, v.30, no.10, pp.849 - 858
- Indexed
- SCOPUS
KCI
- Journal Title
- 한국자동차공학회 논문집
- Volume
- 30
- Number
- 10
- Start Page
- 849
- End Page
- 858
- ISSN
- 1225-6382
- Abstract
- In autonomous vehicles or robots, multiple sensors are used to achieve robust performance in a variety of perception tasks. Multi-sensor calibration is required to establish a spatial correspondence between different sensor coordinates. Camera-LiDAR calibration calculates the external parameters for transforming the representation of sensor data between the camera and LiDAR domains. In this paper, several camera-LiDAR calibration methods are reviewed and their practical applications are discussed. We demonstrate the application of the checkerboard-based camera-LiDAR calibration to a military armed vehicle equipped with Velodyne VLP-32C LiDAR sensor and Kaya Iron SDI 265 camera. We present the experimental results and discuss the practical tips for camera-LiDAR calibration.
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Collections - 서울 공과대학 > 서울 전기공학전공 > 1. Journal Articles
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Related Researcher
- Choi, Jun Won
- COLLEGE OF ENGINEERING (MAJOR IN ELECTRICAL ENGINEERING)