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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, as described in this paper:
Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups
Jorge Beltrán, Carlos Guindel, Arturo de la Escalera, Fernando García
IEEE Transactions on Intelligent Transportation Systems, 2022
Setup
This software is provided as a ROS package. To install:
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:
@article{beltran2022,
author={Beltrán, Jorge and Guindel, Carlos and de la Escalera, Arturo and García, Fernando},
journal={IEEE Transactions on Intelligent Transportation Systems},
title={Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups},
year={2022},
doi={10.1109/TITS.2022.3155228}
}A previous version of this tool is available here and was described on this paper.
