Visual odometry driven online calibration for monocular LiDAR camera systems
Recently LiDAR camera systems have rapidly emerged in many applications. The integration of laser range finding technologies into existing vision systems enables a more comprehensive understanding of 3D structure of the environment. The advantage, however, relies on a good geometrical calibration between the LiDAR and the image sensors. In this paper we consider visual odometry, a discipline in computer vision and robotics, in the context of recently emerging online sensory calibration studies. By embedding the online calibration problem into a LiDAR monocular visual odometry technique, the temporal change of extrinsic parameters can be tracked and compensated effectively.
2016 23rd International Conference on Pattern Recognition (ICPR)