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

doi:10.1109/TITS.2020.3009674

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	Improved Vehicle LiDAR Calibration With Trajectory-Based Hand-Eye Method
	Yuwen, Xuan 1; Chen, Long 6; Yan, Fengjun 5; Zhang, Hui 1; Tang, Jianlin 4; Tian, Bin 2,3; Ai, Yunfeng 2
刊名	IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
	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
DOI	10.1109/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.
资助项目	National Natural Science Foundation of China[61773414] ; Key-Area Research and Development Program of Guangdong Province[2020B090921003]
WOS关键词	ROBOTICS
WOS研究方向	Engineering ; Transportation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000735517000019
资助机构	National Natural Science Foundation of China ; Key-Area Research and Development Program of Guangdong Province
内容类型	期刊论文
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.