校准and Sensor Fusion
互动执行校准,估计LIDAR相机转换和来自每个传感器的融合数据
大多数现代的自主或半自主车辆都配备了包含多个传感器的传感器套件。有必要在这些传感器之间开发几何对应关系,以了解和关联输出数据。需要旋转和翻译转换来校准和融合这些传感器的数据。将LiDAR数据与相应的摄像头数据进行融合在感知管道中特别有用。激光雷达和摄像头校准(LCC)工作流程可实现此目的。它使用棋盘模式校准方法。要了解更多,请参阅What Is Lidar-Camera Calibration?.
LIDAR TOOLBOX™算法提供了功能,可以从图像和点云中提取棋盘功能,并使用它们来估计相机和激光雷达传感器之间的转换。该工具箱还提供下游LCC功能,在图像上投射激光点,在LiDar Point Clouds中融合颜色信息,并将边界框从相机数据传输到LIDAR数据。所有这些功能已集成到Lidar Camera Calibratorapp. Using the app, you can interactively calibrate the sensors.
Apps
Lidar Camera Calibrator | Interactively estimate rigid transformation between lidar sensor and camera |
Functions
话题
- What Is Lidar-Camera Calibration?
Integrate lidar and camera data.
- 校准Guidelines
These guidelines can help you achieve accurate results for lidar-camera calibration.
- Get Started with Lidar Camera Calibrator
Interactively calibrate lidar and camera sensors.
- Read Lidar and Camera Data from Rosbag File
This example shows how to read and save images and point cloud data from a rosbag file.