An Extrinsic Sensor Calibration Framework for Sensor-fusion based Autonomous Vehicle Perception
Abstract
In this paper we deal with sensor alignment problems that appear when implementing sensor fusion-based autonomous vehicle perception. We focus on extrinsic calibration of vision-based and line scan LIDAR sensors. Based on state-of-art solutions, a consistent calibration toolchain is developed, with improvements (accuracy and calibration duration). Additionally, sensor alignment/calibration impact on fusion-based perception is investigated. Experimental results are provided for illustration, using real-world data.
Domains
Robotics [cs.RO]
Origin : Publication funded by an institution
Licence : CC BY NC ND - Attribution - NonCommercial - NoDerivatives
Licence : CC BY NC ND - Attribution - NonCommercial - NoDerivatives