@inproceedings{997ca9c2a7f44535a6c57d0c5a378194,
title = "Extrinsic calibration of Velodyne-VLP16 LiDAR and camera using only three 3D-2D correspondences",
abstract = "The composition of multiple-layer Light Detection And Ranging (LiDAR) and camera is commonly used in autonomous perception systems. Complementary information of these sensors is instrumental in the reliable surrounding perception. However, it is a difficult work for obtaining the extrinsic parameters between LiDAR and camera, which must be known for some perception algorithms. In this study, we present a method, using only three 3D-2D correspondences to compute the extrinsic parameters between Velodyne-VLP16 LiDAR and monocular camera. The procedure is that 3D and 2D features are extracted respectively from the point cloud and image of a custom calibration target and then the extrinsic parameters are obtained based on these features by the perspective-3-point (P3P) algorithm. Outliers with minimum energy at geometrical discontinuities of target are used as control points for extracting key features in LiDAR point cloud. Moreover, a novel method is presented to distinguish the correct solution from multiple P3P solutions. The method depends on conic shape discrepancies in spaces of the different solutions.",
keywords = "LiDAR, P3P, calibration, extrinsic parameters, monocular camera",
author = "Fei Liu and Shaokun Han and Xuefei Bai and Zhengchao Lai and Jun Li and Yu Zhai and Wenhao Li and Shangwei Guo",
note = "Publisher Copyright: {\textcopyright} 2021 SPIE.; 2021 Applied Optics and Photonics China: Optical Sensing and Imaging Technology, AOPC 2021 ; Conference date: 20-06-2021 Through 22-06-2021",
year = "2021",
doi = "10.1117/12.2605517",
language = "English",
series = "Proceedings of SPIE - The International Society for Optical Engineering",
publisher = "SPIE",
editor = "Yadong Jiang and Qunbo Lv and Dong Liu and Dengwei Zhang and Bin Xue",
booktitle = "AOPC 2021",
address = "United States",
}