Online Intelligent Calibration of Cameras and LiDARs for Autonomous Driving Systems
Hanbo Xu, Gongjin Lan, Shaoguan Wu, Qi Hao · 2019
The online extrinsic parameters calibration among multiple sensors for data fusion has been a crucial task in autonomous driving. This paper proposes a new online, robust pipeline of automatic extrinsic parameters calibration between monocular RGB cameras and LiDARs for autonomous driving applications. The novelties of this work includes threefold: (1) an automatic full pipeline of the calibration is developed for the autonomous driving system; (2) an initialization stage is developed for calibration without the initial value of extrinsic parameters; (3) a combination of depth estimation and edge detection is used to improve the calibration accuracy and robustness. We implement the proposed calibration algorithm on an autonomous driving platform, a BYD Qin electric sedan. Both the simulation and experiment results verify the online and robust performance of the proposed calibration pipeline.