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Sensors 2013, 13(2), 1902-1918;

3D LIDAR-Camera Extrinsic Calibration Using an Arbitrary Trihedron

Department of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, Zhejiang, China
Authors to whom correspondence should be addressed.
Received: 14 November 2012 / Revised: 8 January 2013 / Accepted: 24 January 2013 / Published: 1 February 2013
(This article belongs to the Section Remote Sensors)
Full-Text   |   PDF [3521 KB, uploaded 21 June 2014]


This paper presents a novel way to address the extrinsic calibration problem for a system composed of a 3D LIDAR and a camera. The relative transformation between the two sensors is calibrated via a nonlinear least squares (NLS) problem, which is formulated in terms of the geometric constraints associated with a trihedral object. Precise initial estimates of NLS are obtained by dividing it into two sub-problems that are solved individually. With the precise initializations, the calibration parameters are further refined by iteratively optimizing the NLS problem. The algorithm is validated on both simulated and real data, as well as a 3D reconstruction application. Moreover, since the trihedral target used for calibration can be either orthogonal or not, it is very often present in structured environments, making the calibration convenient. View Full-Text
Keywords: extrinsic calibration; 3D LIDAR-camera system; sensor fusion extrinsic calibration; 3D LIDAR-camera system; sensor fusion
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Gong, X.; Lin, Y.; Liu, J. 3D LIDAR-Camera Extrinsic Calibration Using an Arbitrary Trihedron. Sensors 2013, 13, 1902-1918.

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