TY - GEN
T1 - A Two-step Method for Extrinsic Calibration between a Sparse 3D LiDAR and a Thermal Camera
AU - Zhang, Jun
AU - Siritanawan, Prarinya
AU - Yue, Yufeng
AU - Yang, Chule
AU - Wen, Mingxing
AU - Wang, Danwei
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/18
Y1 - 2018/12/18
N2 - To obtain the 6 DOF extrinsic parameters (rotation and translation matrix) between a 3D ranging sensor and a thermal camera, previous methods require a high-resolution 3D ranging sensor to reliably detect features. Although sparse 3D LiDARs are widely used on autonomous robots, to the best of our knowledge, the extrinsic calibration between a sparse 3D LiDAR (particularly Velodyne VLP-16) and a thermal camera has not been considered in the literature. In this paper, we present a two-step method to address the problem, where a monocular visual camera is used to assist the process. The proposed method decomposes the problem into two steps: Extrinsic calibration between a sparse 3D LiDAR and a visual camera; extrinsic calibration between a visual camera and a thermal camera. Experiments are conducted to demonstrate the effectiveness of the proposed two-step method.
AB - To obtain the 6 DOF extrinsic parameters (rotation and translation matrix) between a 3D ranging sensor and a thermal camera, previous methods require a high-resolution 3D ranging sensor to reliably detect features. Although sparse 3D LiDARs are widely used on autonomous robots, to the best of our knowledge, the extrinsic calibration between a sparse 3D LiDAR (particularly Velodyne VLP-16) and a thermal camera has not been considered in the literature. In this paper, we present a two-step method to address the problem, where a monocular visual camera is used to assist the process. The proposed method decomposes the problem into two steps: Extrinsic calibration between a sparse 3D LiDAR and a visual camera; extrinsic calibration between a visual camera and a thermal camera. Experiments are conducted to demonstrate the effectiveness of the proposed two-step method.
UR - http://www.scopus.com/inward/record.url?scp=85060830646&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2018.8581170
DO - 10.1109/ICARCV.2018.8581170
M3 - Conference contribution
AN - SCOPUS:85060830646
T3 - 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
SP - 1039
EP - 1044
BT - 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
Y2 - 18 November 2018 through 21 November 2018
ER -