A Two-step Method for Extrinsic Calibration between a Sparse 3D LiDAR and a Thermal Camera

To obtain the 6 DOF extrinsic parameters (rotation and translation matrix) between a 3D ranging sensor and a thermal camera, previous methods require a high-resolution 3D ranging sensor to reliably detect features. Although sparse 3D LiDARs are widely used on autonomous robots, to the best of our kn...

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Published in2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) pp. 1039 - 1044
Main Authors Zhang, Jun, Siritanawan, Prarinya, Yue, Yufeng, Yang, Chule, Wen, Mingxing, Wang, Danwei
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2018
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Summary:To obtain the 6 DOF extrinsic parameters (rotation and translation matrix) between a 3D ranging sensor and a thermal camera, previous methods require a high-resolution 3D ranging sensor to reliably detect features. Although sparse 3D LiDARs are widely used on autonomous robots, to the best of our knowledge, the extrinsic calibration between a sparse 3D LiDAR (particularly Velodyne VLP-16) and a thermal camera has not been considered in the literature. In this paper, we present a two-step method to address the problem, where a monocular visual camera is used to assist the process. The proposed method decomposes the problem into two steps: extrinsic calibration between a sparse 3D LiDAR and a visual camera; extrinsic calibration between a visual camera and a thermal camera. Experiments are conducted to demonstrate the effectiveness of the proposed two-step method.
DOI:10.1109/ICARCV.2018.8581170