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

doi:10.1109/TITS.2020.3009674

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 平行智能技术与系统团队

	Improved Vehicle LiDAR Calibration With Trajectory-Based Hand-Eye Method
	Yuwen, Xuan 1; Chen, Long 2; Yan, Fengjun 3; Zhang, Hui1 ; Tang, Jianlin 4; Tian, Bin5,6 ; Ai, Yunfeng 6
发表期刊	IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
ISSN	1524-9050
	2022
卷号	23 期号:1 页码:215-224
通讯作者	Chen, Long(chen146@mail.sysu.edu.cn)
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.
关键词	Unmanned vehicles LiDAR calibration trajectory hand-eye model
DOI	10.1109/TITS.2020.3009674
关键词[WOS]	ROBOTICS
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61773414] ; Key-Area Research and Development Program of Guangdong Province[2020B090921003]
项目资助者	National Natural Science Foundation of China ; Key-Area Research and Development Program of Guangdong Province
WOS研究方向	Engineering ; Transportation
WOS类目	Engineering, Civil ; Engineering, Electrical & Electronic ; Transportation Science & Technology
WOS记录号	WOS:000735517000019
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：10[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/47155
专题	多模态人工智能系统全国重点实验室_平行智能技术与系统团队
通讯作者	Chen, Long
作者单位	1.Beihang Univ, Sch Transportat Sci & Engn, Beijing 102206, Peoples R China 2.Sun Yat Sen Univ, Sch Data & Comp Sci, Guangzhou 510006, Peoples R China 3.McMaster Univ, Dept Mech Engn, Hamilton, ON L8S 4L8, Canada 4.Jiangsu Xcmg Construct Machinery Res Inst Ltd, Inst Intelligent Control Technol, Xuzhou 221004, Jiangsu, Peoples R China 5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 6.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, 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.