@inproceedings{90ef9fa997df4747a7c242667c9b0b3f,
title = "An automatic and efficient calibration method for LiDAR-camera in targetless environments",
abstract = "Accurate calibration of LiDAR and camera in targetless environments is a crucial task in various applications. This paper proposes an automatic and efficient calibrationmethod forLiDARand camera in such environments. Firstly, the collected LiDAR point cloud and image data are preprocessed. Considering the richness of edges in natural environments, we incorporated edge features to establish the 2D- 3D correspondence between LiDAR and camera data. Additionally, we employed RANSAC to obtain a rough estimation of the LiDAR-camera transformation. Given the initial guess, we further optimize the transform estimation based on normalized information distance (a cross-modal distance measure based on mutual information). Experimental evaluations confirm the accuracy and efficiency of the proposed method in targetless environments.",
keywords = "Edge features, Extrinsic parameters, LiDAR-camera calibration",
author = "Fengli Yang and Juzhi Zhu and Long Zhao",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.; 19th Chinese Intelligent Systems Conference, CISC 2023 ; Conference date: 14-10-2023 Through 15-10-2023",
year = "2023",
doi = "10.1007/978-981-99-6882-4\_70",
language = "英语",
isbn = "9789819968817",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "867--876",
editor = "Yingmin Jia and Weicun Zhang and Yongling Fu and Jiqiang Wang",
booktitle = "Proceedings of 2023 Chinese Intelligent Systems Conference - Volume II",
address = "德国",
}