论文标题
相机和3D激光扫描仪的时空校准
Spatiotemporal Calibration of Camera and 3D Laser Scanner
论文作者
论文摘要
由激光扫描仪和摄像机组成的多感觉设置很受欢迎，因为测量值相互补充并为应用提供了必要的鲁棒性。在动态条件下或运动中时，需要直接转换（空间校准）和传感器之间的时间偏移（时间校准）以确定测量之间的对应关系。我们为相机和3D激光扫描仪提出了一个开源时空校准框架。我们的解决方案基于通常可用的棋盘标记，需要在运行之前进行一分钟的校准，以提供准确且可重复的结果。该框架基于对平面约束的批处理优化，通过基于Lie代数中最小表示和B-Splines的最小表示，可以通过新型平面方程的新型连续表示。该框架的属性在模拟中进行了评估，同时使用Velodyne VLP-16和病态的MRS6124 3D激光扫描仪进行了两个不同的感觉设置验证。
The multi-sensory setups consisting of the laser scanners and cameras are popular as the measurements complement each other and provide necessary robustness for applications. Under dynamic conditions or when in motion, a direct transformation (spatial calibration) and time offset between sensors (temporal calibration) is needed to determine the correspondence between measurements. We propose an open-source spatiotemporal calibration framework for a camera and a 3D laser scanner. Our solution is based on commonly available chessboard markers requiring one-minute calibration before the operation that offers accurate and repeatable results. The framework is based on batch optimization of point-to-plane constraints with a time offset calibration possible by a novel continuous representation of the plane equations based on a minimal representation in the Lie algebra and the use of B-splines. The framework's properties are evaluated in simulation while correctness is verified with two distinct sensory setups with Velodyne VLP-16 and SICK MRS6124 3D laser scanners.
