About: Calibration of RGB Camera With Velodyne LiDAR

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	http://wscg.zcu.cz/DL/wscg_DL.htm
Description	Calibration of the LiDAR sensor with RGB camera finds its usage in many application fields from enhancing image classification to the environment perception and mapping. This paper presents a pipeline for mutual pose and orientation estimation of the mentioned sensors using a coarse to fine approach. Previously published methods use multiple views of a known chessboard marker for computing the calibration parameters, or they are limited to the calibration of the sensors with a small mutual displacement only. Our approach presents a novel 3D marker for coarse calibration which can be robustly detected in both the camera image and the LiDAR scan. It also requires only a single pair of camera-LiDAR frames for estimating large sensors displacement. Consequent refinement step searches for more accurate calibration in small subspace of calibration parameters. The paper also presents a novel way for evaluation of the calibration precision using projection error. Calibration of the LiDAR sensor with RGB camera finds its usage in many application fields from enhancing image classification to the environment perception and mapping. This paper presents a pipeline for mutual pose and orientation estimation of the mentioned sensors using a coarse to fine approach. Previously published methods use multiple views of a known chessboard marker for computing the calibration parameters, or they are limited to the calibration of the sensors with a small mutual displacement only. Our approach presents a novel 3D marker for coarse calibration which can be robustly detected in both the camera image and the LiDAR scan. It also requires only a single pair of camera-LiDAR frames for estimating large sensors displacement. Consequent refinement step searches for more accurate calibration in small subspace of calibration parameters. The paper also presents a novel way for evaluation of the calibration precision using projection error. (en)
Title	Calibration of RGB Camera With Velodyne LiDAR Calibration of RGB Camera With Velodyne LiDAR (en)
skos:prefLabel	Calibration of RGB Camera With Velodyne LiDAR Calibration of RGB Camera With Velodyne LiDAR (en)
skos:notation	RIV/00216305:26230/14:PU111963!RIV15-MSM-26230___
http://linked.open...avai/riv/aktivita	P S
http://linked.open...avai/riv/aktivity	P(ED1.1.00/02.0070), P(TE01020415), S
http://linked.open...vai/riv/dodaniDat	2015
http://linked.open...aciTvurceVysledku	Španěl, Michal Herout, Adam Materna, Zdeněk Veľas, Martin
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Vysoké učení technické v Brně / Fakulta informačních technologií
http://linked.open...dnocenehoVysledku	6090
http://linked.open...ai/riv/idVysledku	RIV/00216305:26230/14:PU111963
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Camera, LiDAR, Velodyne, calibration, marker (en)
http://linked.open.../riv/klicoveSlovo	Camera calibration marker LiDAR Velodyne
http://linked.open...ontrolniKodProRIV	[798465433ECD]
http://linked.open...v/mistoKonaniAkce	Plzeň
http://linked.open...i/riv/mistoVydani	Plzeň
http://linked.open...i/riv/nazevZdroje	WSCG 2014 Communication Papers Proceedings
http://linked.open...in/vavai/riv/obor	IN
http://linked.open...ichTvurcuVysledku	4 (xsd:int)
http://linked.open...cetTvurcuVysledku	4 (xsd:int)
http://linked.open...vavai/riv/projekt	IT4Innovations Centre of Excellence V3C - Visual Computing Competence Center
http://linked.open...UplatneniVysledku	2014
http://linked.open...iv/tvurceVysledku	Herout, Adam Španěl, Michal Materna, Zdeněk Veľas, Martin
http://linked.open...vavai/riv/typAkce	EUR - Evropská
http://linked.open.../riv/zahajeniAkce	2013-06-24 (xsd:date)
number of pages	10 (xsd:int)
http://purl.org/ne...btex#hasPublisher	Union Agency
https://schema.org/isbn	978-80-86943-71-8
http://localhost/t...ganizacniJednotka	26230

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