Advancements in fusion calibration technology of lidar and camera

Shiqiang Wang; Zhaozong Meng; Nan Gao; Zonghua Zhang

doi:10.3788/IRLA20230427

Journals >Infrared and Laser Engineering >Volume 52 >Issue 8 >Page 20230427 > Article

Infrared and Laser Engineering
Vol. 52, Issue 8, 20230427 (2023)

Advancements in fusion calibration technology of lidar and camera

Shiqiang Wang, Zhaozong Meng, Nan Gao, and Zonghua Zhang

Author Affiliations

School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China

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DOI: 10.3788/IRLA20230427 Cite this Article

Shiqiang Wang, Zhaozong Meng, Nan Gao, Zonghua Zhang. Advancements in fusion calibration technology of lidar and camera[J]. Infrared and Laser Engineering, 2023, 52(8): 20230427 Copy Citation Text

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Fig. 1. Camera model mapping process

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$(a) Coordinate system of lidar; (b) Scanning range in the vertical direction (\begin{document}${\delta }_{\min}-{\delta }_{\max}$\end{document}); (c); Scanning parameters in the vertical plane; (d) Scanning parameters on the horizontal plane$

Fig. 2. (a) Coordinate system of lidar; (b) Scanning range in the vertical direction (

Unknown environment 'document'

); (c); Scanning parameters in the vertical plane; (d) Scanning parameters on the horizontal plane

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Fig. 3. Calibration principle of lidar and camera

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Fig. 4. Multi-source data fusion process

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Fig. 5. The extrinsic calibration methods of lidar and camera

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Fig. 6. (a) Checkerboard with border; (b) Checkerboard without border

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Fig. 7. Non-checkerboard 2D calibration board

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Calibration method		Stability	Accuracy	Flexibility	Speed	Target
Traditional methods	DLT^[12]	L	L	L	H	Y
	Tasi^[13]	M	H	L	M	Y
	Zhang^[14]	M	H	M	M	Y
Self-calibration methods	Kruppa^[15]	M	M	H	H	N
	VP^[16]	L	M	H	H	N
	BA^[17]	L	M	H	M	N
AVC^[18]		H	H	L	L	Y

Table 1. Characteristics of different camera intrinsic calibration methods

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No.	Type	Technology	Advantage	Disadvantage
1	Mechanical lidar	Single line scanning or multi-line scanning	Circular scanning, large scanning field, mature technology	Large volume, short life and high cost
2	Semi-solid state lidar	MEMS method	Size miniaturization, low cost and high accuracy	Sensitive to vibration, small field of vision
3	All-solid state lidar	OPA method	Silicon-based scheme, low cost	The technology is not mature and the application is few
4	All-solid state lidar	Flash method	Small size, 360° field of view	Low efficiency, immature technology

Table 2. Characteristics of different type lidar

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	Target feature	Motion	Mutual information	Deep learning
Characteristic	Require targets, then calculate pnp based on features	Hand-eye calibration, the accuracy depends on motion estimation of the sensors	Correlating image grayscale values with point reflectance, and specific applications	extensive training and poor generalization
Accuracy	H	L	M	M
Automaticity	L	M	M	H

Table 3. Characteristics of different methods for lidar-camera extrinsic calibration

Shiqiang Wang, Zhaozong Meng, Nan Gao, Zonghua Zhang. Advancements in fusion calibration technology of lidar and camera[J]. Infrared and Laser Engineering, 2023, 52(8): 20230427

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