• Acta Photonica Sinica
  • Vol. 53, Issue 7, 0712002 (2024)
Xiaobin XU*, Chenfei CAO, Lei ZHANG, Jinchao HU..., Yingying RAN, Zhiying TAN, Linsen XU and Minzhou LUO|Show fewer author(s)
Author Affiliations
  • College of Mechanical and Electrical Engineering, Hohai University, Changzhou 213022, China
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    DOI: 10.3788/gzxb20245307.0712002 Cite this Article
    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 Copy Citation Text show less
    Calibration model of lidar and camera
    Fig. 1. Calibration model of lidar and camera
    Calibration scene
    Fig. 2. Calibration scene
    Schematic diagram of the distance error between the corresponding skew lines in point cloud and image
    Fig. 3. Schematic diagram of the distance error between the corresponding skew lines in point cloud and image
    Schematic diagram of the distance between skew lines
    Fig. 4. Schematic diagram of the distance between skew lines
    Schematic diagram of the angle between the projected line and the line in image
    Fig. 5. Schematic diagram of the angle between the projected line and the line in image
    Plane extraction effect of point cloud data
    Fig. 6. Plane extraction effect of point cloud data
    Comparison of straight line detection effects between Hough transform and LSD algorithm
    Fig. 7. Comparison of straight line detection effects between Hough transform and LSD algorithm
    Extracting line features from images using LSD algorithm
    Fig. 8. Extracting line features from images using LSD algorithm
    Experimental data
    Fig. 9. Experimental data
    Colored point cloud
    Fig. 10. Colored point cloud
    Definition of projection error
    Fig. 11. Definition of projection error
    Ten edges for testing
    Fig. 12. Ten edges for testing
    Edges projection error boxplot
    Fig. 13. Edges projection error boxplot
    Schematic diagram of the boundaries used by proposed method
    Fig. 14. Schematic diagram of the boundaries used by proposed method
    Overall projection rendering
    Fig. 15. Overall projection rendering
    Comparison of local differences in projection effects
    Fig. 16. Comparison of local differences in projection effects
    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. 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
    Error box diagram
    Fig. 18. Error box diagram
    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
    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
    Processing time/sImage1Image2Image3Image4Image5Image6Mean
    Hough transform1.2091.2711.2471.2111.1881.2631.231
    LSD algorithm1.3911.4540.9171.3020.9700.9131.158
    Table 1. Processing time of two algorithms on six images
    Projection error/pixelsEdge1Edge2Edge3Edge4Edge5Edge6Edge7Edge8Edge9Edge10Mean
    Livox method1.6937.1665.0502.5091.1790.9904.8063.8911.7140.2912.929
    Proposed method0.2160.3290.8990.4300.7740.6250.7140.1900.8650.3750.542
    Table 2. Projection error of ten edges
    Projection error/pixelsEdge1Edge2Edge3Edge4Edge5Edge6Edge7Edge8Mean
    Ref. [27] method7.3520.6411.3122.2671.1560.5170.2941.7031.905
    Proposed method0.7191.0050.4100.7810.4290.4350.1030.2420.516
    Table 3. Projection error of eight edges
    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
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