Calibration Method of 2D LIDAR and Camera Based on Indoor Structural Features

Lei ZHANG; Xiao-bin XU; Jia HE; Kai-yua ZHU; Min-zhou LUO; Zhi-ying TAN

doi:10.3788/gzxb20204912.1214001

Journals >Acta Photonica Sinica >Volume 49 >Issue 12 >Page 61 > Article

Acta Photonica Sinica
Vol. 49, Issue 12, 61 (2020)

Calibration Method of 2D LIDAR and Camera Based on Indoor Structural Features

Lei ZHANG^1、2, Xiao-bin XU^1、2, Jia HE^1、2, Kai-yua ZHU^1、2, Min-zhou LUO^1、2, and Zhi-ying TAN^1、2

Author Affiliations

¹College of Mechanical & Electrical Engineering， Hohai University， Changzhou， Jiangsu23022， China

²Jiangsu Key Laboratory of Special Robot Technology， Hohai University， Changzhou， Jiangsu130， China

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DOI: 10.3788/gzxb20204912.1214001 Cite this Article

Lei ZHANG, Xiao-bin XU, Jia HE, Kai-yua ZHU, Min-zhou LUO, Zhi-ying TAN. Calibration Method of 2D LIDAR and Camera Based on Indoor Structural Features[J]. Acta Photonica Sinica, 2020, 49(12): 61 Copy Citation Text

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S/N	x/m	y/m	a	b	c
1	-0.645 679 53	0.025 819 36	-275	172	83 874
2	-0.663 591 86	-0.157 623 35	-269	219	32 780
3	-0.643 988 79	-0.256 961 64	-307	131	22 593
4	-0.892 779 23	-0.220 791 22	-423	244	56 064
5	-0.919 356 82	-0.116 384 39	-381	177	82 758
6	-0.930 696 01	0.445 599 08	-357	-268	260 015
7	-1.013 609 30	0.073 209 52	-474	-182	210 346
8	-0.919 355 99	-0.183 984 88	-189	-133	62 447
9	-1.143 314 60	-0.059 158 44	-330	-183	132 366
10	-1.206 768 00	0.121 189 59	-346	-359	193 661
11	-1.210 898 40	0.296 762 59	-477	-243	269 037
12	-1.266 390 80	-0.534 483 91	-258	-99	45 486

Table 1. Data of fitted corner points and linear equation parameters

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S/N	1	2	3	4	5	6
error	0.572 4	0.049 9	0.426 9	0.848 8	1.423 1	0.117 6
S/N	7	8	9	10	11	12
error	0.196 3	0.274 4	0.186 7	0.196 9	0.108 5	0.104 3

Table 2. Reprojection errors before optimization

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Method	Matrix
Optimized method	$[\begin{matrix} 0.877 757 & - 0.999 888 & 0.331 104 \\ 0.479 099 & 0.014 996 & 0.943 594 \\ 0.002 499 & 9.205 273 \times 10^{- 5} & 8.637 213 \times 10^{- 4} \end{matrix}]$
Ref. [19]	$[\begin{matrix} 0.878 759 5 & - 0.999 820 & 0.330 258 \\ 0.477 258 2 & 0.018 967 & 0.943 890 \\ 0.002 501 3 & 9.043 625 \times 10^{- 5} & 8.697 315 \times 10^{- 4} \end{matrix}]$

Table 3. Matrices of different calibration methods

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S/N	1	2	3	4	5
This work	0.025 9	0.078 8	0.052 8	0.017 8	0.054 3
Ref. [19]	0.572 4	0.049 9	0.426 9	0.117 6	0.196 3
S/N	6	7	8	9	10
This work	0.090 5	0.087 5	0.021 5	0.004 5	0.025 7
Ref. [19]	0.274 4	0.186 7	0.196 9	0.108 5	0.104 3

Table 4. Reprojection error comparison

Lei ZHANG, Xiao-bin XU, Jia HE, Kai-yua ZHU, Min-zhou LUO, Zhi-ying TAN. Calibration Method of 2D LIDAR and Camera Based on Indoor Structural Features[J]. Acta Photonica Sinica, 2020, 49(12): 61

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