An Improved Method for Calibration Between a 2D Lidar and a Camera Based on Point-Line Correspondences

Abstract

Abstract The paper depicts an improved method for calibration parameters, which is a 2D homography, using point-line correspondences. The correspondences are the edge lines of the board provided by camera and the intersection points obtained by lidar. Particularly, a data preprocessing method is put forward and exploited to dramatically reduce the lidar’s measurement error. Afterwards, we use a triangular board to establish constraints. At least 8 correspondences are employed to compute the initial value, and the final result is optimized by L-M algorithm. Massive experimental results show that proposed method has about 1 pixel improvement, compared with the previous methods.