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Package Summary
The velo2cam_calibration package
- Maintainer status: maintained
- Maintainer: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
- Author: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
- License: GPLv2
- Source: git https://github.com/beltransen/velo2cam_calibration.git (branch: master)
Package Summary
The velo2cam_calibration package
- Maintainer status: maintained
- Maintainer: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
- Author: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
- License: GPLv2
- Source: git https://github.com/beltransen/velo2cam_calibration.git (branch: master)
Package Summary
The velo2cam_calibration package
- Maintainer status: maintained
- Maintainer: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
- Author: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
- License: GPLv2
- Source: git https://github.com/beltransen/velo2cam_calibration.git (branch: master)
Package Summary
The velo2cam_calibration package
- Maintainer status: maintained
- Maintainer: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
- Author: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
- License: GPLv2
- Source: git https://github.com/beltransen/velo2cam_calibration.git (branch: master)
Contents
Overview
The velo2cam_calibration software implements a state-of-the-art automatic calibration algorithm for pair of sensors composed of LiDAR and camera devices in any possible combination [1]. This software is provided as a ROS package.
Package developed at Intelligent Systems Laboratory, Universidad Carlos III de Madrid.
Setup
To install this ROS package:
Clone the repository into your catkin_ws/src/ folder.
Install run dependencies: sudo apt-get install ros-<distro>-opencv-apps
Build your workspace as usual.
Usage
See the HOWTO guide for detailed instructions on how to use this software.
To test the algorithm in a virtual environment, you can launch any of the calibration scenarios included in our Gazebo validation suite.
Calibration target
The following picture shows a possible embodiment of the proposed calibration target used by this algorithm and its corresponding dimensional drawing.
Note: Other size may be used for convenience. If so, please configure node parameters accordingly.
Citation
If you use this work in your research, please consider citing the following paper:
[1] Beltrán, J., Guindel, C., and García, F. (2021). Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups. arXiv:2101.04431 [cs.RO]. Submitted to IEEE Transactions on Intelligent Transportation Systems.
A previous version of this tool is available here and was described on this paper:
[2] Guindel, C., Beltrán, J., Martín, D., and García, F. (2017). Automatic Extrinsic Calibration for Lidar-Stereo Vehicle Sensor Setup. IEEE International Conference on Intelligent Transportation Systems (ITSC), 674–679.
