Xiaobin XU, Chenfei CAO, Lei ZHANG, Jinchao HU, Yingying RAN, Zhiying TAN, Linsen XU, Minzhou LUO. Planar Array Lidar and Camera Calibration Method Based on Tetrahedral Features[J]. Acta Photonica Sinica, 2024, 53(7): 0712002
- Acta Photonica Sinica
- Vol. 53, Issue 7, 0712002 (2024)
Fig. 1. Calibration model of lidar and camera
Fig. 2. Calibration scene
Fig. 3. Schematic diagram of the distance error between the corresponding skew lines in point cloud and image
Fig. 4. Schematic diagram of the distance between skew lines
Fig. 5. Schematic diagram of the angle between the projected line and the line in image
Fig. 6. Plane extraction effect of point cloud data
Fig. 7. Comparison of straight line detection effects between Hough transform and LSD algorithm
Fig. 8. Extracting line features from images using LSD algorithm
Fig. 9. Experimental data
Fig. 10. Colored point cloud
Fig. 11. Definition of projection error
Fig. 12. Ten edges for testing
Fig. 13. Edges projection error boxplot
Fig. 14. Schematic diagram of the boundaries used by proposed method
Fig. 15. Overall projection rendering
Fig. 16. Comparison of local differences in projection effects
Fig. 17. Comparison of projection errors. The solid green lines represent the boundaries in the image， the red points represent the point cloud projection points of the proposed method， and the blue points represent the projection points using Ref. ［27］ method
Fig. 18. Error box diagram
Fig. 19. Error analysis diagram of edge-2. The red and blue dots represent the point cloud projection points of the proposed method and Ref. ［27］ method， respectively
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Table 1. Processing time of two algorithms on six images
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Table 2. Projection error of ten edges
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Table 3. Projection error of eight edges
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