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AUTOMATIC AUTONOMOUS VEHICLE AND ROBOT LIDAR-CAMERA EXTRINSIC CALIBRATION
AUTOMATIC AUTONOMOUS VEHICLE AND ROBOT LIDAR-CAMERA EXTRINSIC CALIBRATION
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机译:自动自动车辆和机器人Lidar-相机外在校准
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摘要
Extrinsic calibration of a Light Detection and Ranging (LiDAR) sensor and a camera can comprise constructing a first plurality of reconstructed calibration targets in a three-dimensional space based on physical calibration targets detected from input from the LiDAR and a second plurality of reconstructed calibration targets in the three-dimensional space based on physical calibration targets detected from input from the camera. Reconstructed calibration targets in the first and second plurality of reconstructed calibration targets can be matched and a six-degree of freedom rigid body transformation of the LiDAR and camera can be computed based on the matched reconstructed calibration targets. A projection of the LiDAR to the camera can be computed based on the computed six-degree of freedom rigid body transformation.
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