Automatic extrinsic calibration for lidar-stereo vehicle sensor setups

@article{Guindel2017AutomaticEC,
  title={Automatic extrinsic calibration for lidar-stereo vehicle sensor setups},
  author={Carlos Guindel and Jorge Beltr{\'a}n and David Mart{\'i}n and Fernando Garc{\'i}a},
  journal={2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)},
  year={2017},
  pages={1-6}
}
Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a tedious calibration process. We present a method for extrinsic calibration of lidar-stereo camera pairs without user intervention. Our calibration approach is aimed to cope with the constraints commonly found in automotive setups, such as low-resolution and… CONTINUE READING
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