基于LM 算法的运动相机与激光雷达联合标定方法

Subjects: Information Science and Systems Science >> Systematic Application of Information Technology submitted time 2022-10-26 Cooperative journals: 《桂林电子科技大学学报》

李红帅 罗笑南 邓春贵 钟艳如

Abstract： In order to solve the data matching problem between sports camera and lidar, a joint calibration optimization method
of sports camera and lidar based on Levenberg-Marquard (LM) algorithm is designed. First, the calibration board is
placed in the common field of view of the lidar and the sports camera, and the laser point cloud and image data of the calibration
object at different positions are collected by changing the position of the calibration board. Then the fisheye distortion
correction function is called through OpenCV to correct the image distortion, and obtain multiple sets of pixel coordinates of
the corner points of the calibration plate image. At the same time, point cloud filtering and point cloud registration are performed
on the laser point cloud, and the laser point cloud is segmented by a combination of manual and automatic methods,
and then the point cloud center iterative algorithm is used to solve the calibration board point cloud center coordinates and
The point cloud coordinates of each corner point. Finally, through multiple sets of point cloud coordinates representing the
corner points of the calibration board and the corresponding image pixel coordinates, the direct linear transformation method
(DLT) is used to calculate the initial value of the joint calibration between the two sensors, and the difference between the
point cloud reprojection coordinates and the image pixel coordinates is constructed. The least squares function of, the function
is optimized by the LM algorithm that introduces the damping factor, and the optimized joint calibration result is
solved. Experiments show that the joint calibration result reduces the reprojection error by 35% compared with the initial
value. The joint calibration result is used to achieve laser point cloud and image fusion based on the principle of collinear equations, which verifies the accuracy and effectiveness of the method

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