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Extrinsic Calibration of Multiple LiDARs of Small FoV in Targetless Environments
- Source :
- IEEE Robotics and Automation Letters. 6:2036-2043
- Publication Year :
- 2021
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2021.
-
Abstract
- The integration of multiple solid state LiDARs could achieve similar performance as a spinning LiDAR, by focusing on the dedicated area of interests. However, due to their small FoV settings, it is either required to rely on external sensors or form FoV overlaps to calibrate the extrinsic parameters between multiple LiDAR units. To overcome such limitations, we develop a targetless calibration method, which creates FoV overlaps (hence co-visible features) through movements and constructs a factor graph to resolve the constraints between LiDAR poses and extrinsic parameters. By solving the formulated problem with graph optimization, our proposed method could calibrate the extrinsic of LiDARs with few or even no overlapped FoVs, meanwhile, produce a globally consistent point cloud map. Experiments on different sensor setups and scenes have demonstrated the accuracy and robustness of our proposed approach.
- Subjects :
- 0209 industrial biotechnology
Control and Optimization
Computer science
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
Biomedical Engineering
Solid-state
Point cloud
02 engineering and technology
020901 industrial engineering & automation
Artificial Intelligence
Robustness (computer science)
0202 electrical engineering, electronic engineering, information engineering
Calibration
Computer vision
Spinning
business.industry
Mechanical Engineering
Computer Science Applications
Extrinsic calibration
Human-Computer Interaction
Lidar
Control and Systems Engineering
020201 artificial intelligence & image processing
Computer Vision and Pattern Recognition
Artificial intelligence
business
Factor graph
Subjects
Details
- ISSN :
- 23773774
- Volume :
- 6
- Database :
- OpenAIRE
- Journal :
- IEEE Robotics and Automation Letters
- Accession number :
- edsair.doi...........b262f1efde0221aac07ed39f567b9473