Yunfeng DAI, Yajie DING, Xingming FENG, Han WANG, Qinghua WANG. Calibration Method of Lidar and Visible Light Camera Based on EPnP Algorithm[J]. Optoelectronic Technology, 2023, 43(2): 166
- Optoelectronic Technology
- Vol. 43, Issue 2, 166 (2023)
Fig. 1. Process of calibration method
Fig. 2. Structure of calibration plate
Fig. 3. Results of opening operation and closing operation
Fig. 4. Extraction results of calibration plate plane
Fig. 5. Relationship between the edge points and the fitting plane
Fig. 6. Edge point cloud extraction results of calibration plate
Fig. 7. Feature points coordinates of calibration plate
Fig. 8. Actual process of calibration
Fig. 9. Feature points extraction results of image
Fig. 10. Feature points extraction results of 3D point cloud
Fig. 11. Comparison of experimental results between the proposed method and Autoware calibration toolbox
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