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Sensors 2014, 14(3), 5333-5353; doi:10.3390/s140305333
Article

Calibration between Color Camera and 3D LIDAR Instruments with a Polygonal Planar Board

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Received: 13 January 2014; in revised form: 10 March 2014 / Accepted: 10 March 2014 / Published: 17 March 2014
(This article belongs to the Section Physical Sensors)
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Abstract: Calibration between color camera and 3D Light Detection And Ranging (LIDAR) equipment is an essential process for data fusion. The goal of this paper is to improve the calibration accuracy between a camera and a 3D LIDAR. In particular, we are interested in calibrating a low resolution 3D LIDAR with a relatively small number of vertical sensors. Our goal is achieved by employing a new methodology for the calibration board, which exploits 2D-3D correspondences. The 3D corresponding points are estimated from the scanned laser points on the polygonal planar board with adjacent sides. Since the lengths of adjacent sides are known, we can estimate the vertices of the board as a meeting point of two projected sides of the polygonal board. The estimated vertices from the range data and those detected from the color image serve as the corresponding points for the calibration. Experiments using a low-resolution LIDAR with 32 sensors show robust results.
Keywords: camera calibration; 3D LIDAR; sensor fusion; calibration board; 3D point clouds; calibration matrix camera calibration; 3D LIDAR; sensor fusion; calibration board; 3D point clouds; calibration matrix
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Park, Y.; Yun, S.; Won, C.S.; Cho, K.; Um, K.; Sim, S. Calibration between Color Camera and 3D LIDAR Instruments with a Polygonal Planar Board. Sensors 2014, 14, 5333-5353.

AMA Style

Park Y, Yun S, Won CS, Cho K, Um K, Sim S. Calibration between Color Camera and 3D LIDAR Instruments with a Polygonal Planar Board. Sensors. 2014; 14(3):5333-5353.

Chicago/Turabian Style

Park, Yoonsu; Yun, Seokmin; Won, Chee S.; Cho, Kyungeun; Um, Kyhyun; Sim, Sungdae. 2014. "Calibration between Color Camera and 3D LIDAR Instruments with a Polygonal Planar Board." Sensors 14, no. 3: 5333-5353.



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