Experimental Evaluation of 3D-LIDAR Camera Extrinsic Calibration Academic Article

abstract

• In this paper we perform an experimental comparison of three different target based 3D-LIDAR camera calibration algorithms. We briefly elucidate the mathematical background behind each method and provide insights into practical aspects like ease of data collection for all of them. We extensively evaluate these algorithms on a sensor suite which consists multiple cameras and LIDARs by assessing their robustness to random initialization and by using metrics like Mean Line Re-projection Error (MLRE) and Factory Stereo Calibration Error. We also show the effect of noisy sensor on the calibration result from all the algorithms and conclude with a note on which calibration algorithm should be used under what circumstances.

authors

• Saripalli, Srikanth

published proceedings

• 2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)

author list (cited authors)

• Mishra, S., Osteen, P. R., Pandey, G., & Saripalli, S.

citation count

• 7

complete list of authors

• Mishra, Subodh||Osteen, Philip R||Pandey, Gaurav||Saripalli, Srikanth

publication date

• January 2020

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems  Journal

keywords

• 3d-lidar
• Camera
• Extrinsic Calibration
• Non-linear Least Square

Digital Object Identifier (DOI)

• 10.1109/IROS45743.2020.9340911

start page

• 9020

end page

• 9026

volume

• 00

URL

• http://dx.doi.org/10.1109/iros45743.2020.9340911