Xiaoxu XU, Yingping HUANG, Xing HU. Calibration of lidar-camera fusion system for intelligent vehicles[J]. Optical Instruments, 2019, 41(6): 79
- Optical Instruments
- Vol. 41, Issue 6, 79 (2019)
Fig. 1. Diagram of related coordinate systems
Fig. 2. Calibration template of feature-point method
Fig. 3. Principle diagram of planar checkerboard method
Fig. 4. Installation diagram of the lidar-camera system
Fig. 5. Diagram of validation experiment
Fig. 6. Projection of lidar points to image
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Table 1. Extracted feature points and calculated parameters
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Table 2. N L, N C of the checkerboard planes at different positions and Pl at corresponding positions
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Table 3. Results of the parameters
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Table 4. Results of the projection of the two methods
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