%0 Book Section %B Proceedings of ICCV Workshop on Big Data in 3D Computer Vision %D 2013 %T Targetless Calibration of a Lidar - Perspective Camera Pair %A Tamás Levente %A Zoltan Kato %E Jian Zhang %E Mohammed Bennamoun %E Dan Schonfeld %E Zhengyou Zhang %X

A novel method is proposed for the calibration of a camera - 3D lidar pair without the use of any special calibration pattern or point correspondences. The proposed method has no specific assumption about the data source: plain depth information is expected from the lidar scan and a simple perspective camera is used for the 2D images. The calibration is solved as a 2D-3D registration problem using a minimum of one (for extrinsic) or two (for intrinsic-extrinsic) planar regions visible in both cameras. The registration is then traced back to the solution of a non-linear system of equations which directly provides the calibration parameters between the bases of the two sensors. The method has been tested on a large set of synthetic lidar-camera image pairs as well as on real data acquired in outdoor environment.

 

%B Proceedings of ICCV Workshop on Big Data in 3D Computer Vision %I IEEE %C Sydney, NSW %P 668 - 675 %8 Dec 2013 %G eng %9 Conference paper %M 14147882 %R 10.1109/ICCVW.2013.92