LIDAR AND CAMERA JOINT CALIBRATION METHOD

摘要

A lidar and camera joint calibration method, where a utilized lidar scanning mode is non-repetitive scanning, i.e. a trajectory is different every time the lidar scans, and after static capture for a number of seconds, point cloud coverage within a field of view approaches 100%. According to a non-repetitive scanning characteristic of this type of lidar, a self-made large size checkerboard calibration board is sequentially placed at different positions in an overlapping field of view of a lidar and a camera, and while the camera captures an image, the lidar captures three-dimensional point cloud data for a relatively long amount of time, and obtained three-dimensional point cloud data is converted into a two-dimensional normalized gray scale image according to point cloud intensity, then corner point detection is performed on the normalized gray scale image and the camera image, a corresponding two-dimensional gray scale image and camera image corner point pair is obtained, and subsequently, precise three-dimensional point cloud corner point coordinates are found in a backtracking manner according to a corner point in the two-dimensional gray scale image, and finally a joint calibration result is obtained according to a corresponding three-dimensional point cloud corner point and camera image corner point coordinates. The present method is more precise compared to a traditional method.