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An Automatic and Efficient Calibration Method for LiDAR-Camera in Targetless Environments

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Proceedings of 2023 Chinese Intelligent Systems Conference (CISC 2023)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 1090))

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Abstract

Accurate calibration of LiDAR and camera in targetless environments is a crucial task in various applications. This paper proposes an automatic and efficient calibration method for LiDAR and camera in such environments. Firstly, the collected LiDAR point cloud and image data are preprocessed. Considering the richness of edges in natural environments, we incorporated edge features to establish the 2D-3D correspondence between LiDAR and camera data. Additionally, we employed RANSAC to obtain a rough estimation of the LiDAR-camera transformation. Given the initial guess, we further optimize the transform estimation based on normalized information distance (a cross-modal distance measure based on mutual information). Experimental evaluations confirm the accuracy and efficiency of the proposed method in targetless environments.

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Acknowledgements

This work is supported by the National Science Foundation of China (Grant No. 42274037), the Aeronautical Science Foundation of China (Grant No. 2022Z022051001), and the National key research and development program of China (Grant No. 2020YFB0505804).

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Authors and Affiliations

  1. Digital Navigation Center, School of Automatic Science and Electrical Engineering, Beihang University, Beijing, 100191, China

    Fengli Yang, Juzhi Zhu & Long Zhao

Authors
  1. Fengli Yang
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  2. Juzhi Zhu
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  3. Long Zhao
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Corresponding author

Correspondence to Long Zhao .

Editor information

Editors and Affiliations

  1. School of Automation Science and Electrical Engineering, Beihang University, Beijing, China

    Yingmin Jia

  2. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

  3. School of Mechanical Engineering and Automation, Beihang University, Beijing, China

    Yongling Fu

  4. Ningbo Institute of Materials Technology&Engineering, Chinese Academy of Sciences, Ningbo, Zhejiang, China

    Jiqiang Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Yang, F., Zhu, J., Zhao, L. (2023). An Automatic and Efficient Calibration Method for LiDAR-Camera in Targetless Environments. In: Jia, Y., Zhang, W., Fu, Y., Wang, J. (eds) Proceedings of 2023 Chinese Intelligent Systems Conference. CISC 2023. Lecture Notes in Electrical Engineering, vol 1090. Springer, Singapore. https://doi.org/10.1007/978-981-99-6882-4_70

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