Supervised Calibration Method for Improving Contrast and Intensity of LIDAR Laser Beams

摘要

Calibration of LIDAR laser beams in terms of contrast and intensity levels is very important for map generation and localization of autonomous vehicles. In this paper, we explain a simple semi-calibration method based on matching the shape and distribution of histograms. A laser beam output is selected to be a reference of the calibration process after manually tuning its intensity and contrast parameters to describe the road marks in prominent reflectivity. The histograms of the other laser beams are then aligned to the reference histogram and the calibration parameters of each beam are obtained. The experimental results have verified that the proposed method is reliable and provides a considerable enhancement of the map image quality as well as it improves the localization accuracy during the autonomous driving.