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Calibrate the extrinsic parameters between a stereo camera and a 3D LiDAR using line and plane constraints.
Line and plane extraction from image and 3D LiDAR.
Camera and light detection and ranging (LiDAR) are frequently used for perception in real-world applications. The combination of these heterogeneous sensors bring advantages of both kinds of sensors and get accurate and promising results. The extrinsic calibration of camera and LiDAR system is a prerequisite for robot perception applications, the robustness and usability are required in research and industry. Previous works have provided several extrinsic calibration methods including target-based works and target-less works. Although there are many works dealing with calibration of a monocular camera and a 3D LiDAR, the solutions of the calibration of the stereo visual system and 3D LiDAR still have not meet the requirement of the real-world application yet. In this work, we designed an extrinsic calibration algorithm which can be used for calibration of a stereo visual system and a 3D LiDAR system. Our method can estimate extrinsic parameters between a stereo visual system and a 3D LiDAR with only one checkerboard pose. We can further improve the result by a joint non-linear optimization considering LiDAR disparity constraint using multiple poses.
