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Improved Vehicle LiDAR Calibration With Trajectory-Based Hand-Eye Method

文献类型：期刊论文

作者Yuwen, Xuan1; Chen, Long6; Yan, Fengjun5; Zhang, Hui1; Tang, Jianlin4; Tian, Bin2,3; Ai, Yunfeng2
刊名IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
出版日期2022
卷号23期号:1页码:215-224
关键词Unmanned vehicles LiDAR calibration trajectory hand-eye model
ISSN号1524-9050
DOI10.1109/TITS.2020.3009674
通讯作者Chen, Long(chen146@mail.sysu.edu.cn)
英文摘要Y In unmanned vehicles, LiDARs and GPS/INSs are the most popular sensors to achieve perception and positioning. Precise calibration of the extrinsic parameters between the LiDAR and the GPS/INS is necessary for a successful implementation of sensor fusion. The extrinsic transformation between the LiDAR and GPS/INS is 6D (x, y, z, yaw, pitch, roll), but the motion of a vehicle is mainly 3D (x, y, yaw). The problem is to calculate the 6D extrinsic parameters with the limitation of 3D motion (plane constraint). The solution to this problem has been breaking the plane constraint by designing specific vehicle motions. This paper proposes a new method, a trajectory-based hand-eye calibration method, which makes full use of the large range of unmanned vehicles. The trajectories with large and small ranges are used to solve the rotation and translation, respectively. It is proved that the extrinsic parameters can be solved when the trajectory range of the unmanned vehicle is sufficiently large. The method proposed is tested with simulation, custom and KITTI datasets, and compared with the state-ofthe-art methods. The results demonstrate that the accuracy and efficiency of the method proposed are comparable to the state of the art methods.
WOS关键词ROBOTICS
资助项目National Natural Science Foundation of China[61773414] ; Key-Area Research and Development Program of Guangdong Province[2020B090921003]
WOS研究方向Engineering ; Transportation
语种英语
WOS记录号WOS:000735517000019
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; Key-Area Research and Development Program of Guangdong Province
源URL[http://ir.ia.ac.cn/handle/173211/47154]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进控制与自动化团队
通讯作者Chen, Long
作者单位1.Beihang Univ, Sch Transportat Sci & Engn, Beijing 102206, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
4.Jiangsu Xcmg Construct Machinery Res Inst Ltd, Inst Intelligent Control Technol, Xuzhou 221004, Jiangsu, Peoples R China
5.McMaster Univ, Dept Mech Engn, Hamilton, ON L8S 4L8, Canada
6.Sun Yat Sen Univ, Sch Data & Comp Sci, Guangzhou 510006, Peoples R China
推荐引用方式
GB/T 7714		 Yuwen, Xuan,Chen, Long,Yan, Fengjun,et al. Improved Vehicle LiDAR Calibration With Trajectory-Based Hand-Eye Method[J]. IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS,2022,23(1):215-224.
APA Yuwen, Xuan.,Chen, Long.,Yan, Fengjun.,Zhang, Hui.,Tang, Jianlin.,...&Ai, Yunfeng.(2022).Improved Vehicle LiDAR Calibration With Trajectory-Based Hand-Eye Method.IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS,23(1),215-224.
MLA Yuwen, Xuan,et al."Improved Vehicle LiDAR Calibration With Trajectory-Based Hand-Eye Method".IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 23.1(2022):215-224.

入库方式： OAI收割

来源：自动化研究所

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