A mutual information approach to automatic calibration of camera and lidar in natural environments
Juan I. Nieto, Zachary J. Taylor · 2012
This paper presents a method for calibrating the extrinsic and intrinsic parameters of a camera and a lidar scanner. The approach uses normalised mutual information to compare an image with a lidar scan. A camera model that takes into account orientation, location and focal length is used to create a 2D lidar image, with the intensity of the pixels dened by the angle of the normals in the lidar scan. Particle swarm optimisation is used to nd the optimal model parameters. The method is successfully validated in a natural environment with images collected by a hyperspectral and a 3D lidar scanner.