Lidar and camera calibration using a mounted sphere / Jiajia Li.
Extrinsic calibration between lidar and camera sensors is needed for multi-modal sensor data fusion. However, obtaining precise extrinsic calibration can be tedious, computationally expensive, or involve elaborate apparatus. This thesis proposes a simple, fast, and robust method performing extrinsic...
| Main Author: | |
|---|---|
| Language: | English |
| Published: |
2020.
|
| Subjects: | |
| Genre: | |
| Online Access: | |
| Dissertation Note: |
Thesis M.S. Michigan State University. Electrical Engineering 2020. |
| Physical Description: | 1 online resource (viii, 37 pages) : illustrations |
| Format: | Thesis Electronic eBook |
MARC
| LEADER | 00000cam a22000007a 4500 | ||
|---|---|---|---|
| 001 | in00006451357 | ||
| 003 | OCoLC | ||
| 005 | 20220616134214.0 | ||
| 006 | m o d | ||
| 007 | cr ||||||||||| | ||
| 008 | 210503s2020 xx a obm 000 0 eng d | ||
| 020 | |a 9798557028226 | ||
| 028 | 5 | 0 | |a 28157558 |b UMI |
| 028 | 5 | 0 | |a Li_grad.msu_0128N_17951 |b local |
| 035 | |a (OCoLC)1249444252 | ||
| 040 | |a EEM |b eng |e pn |c EEM |d OCL |d EEM |d UtOrBLW | ||
| 049 | |a QEMO |a EEMT | ||
| 099 | |a MSU ONLINE THESIS | ||
| 100 | 1 | |a Li, Jiajia |c (Graduate of Michigan State University), |e author. |0 http://id.loc.gov/authorities/names/no2021115048 | |
| 245 | 1 | 0 | |a Lidar and camera calibration using a mounted sphere / |c Jiajia Li. |
| 260 | |c 2020. | ||
| 300 | |a 1 online resource (viii, 37 pages) : |b illustrations | ||
| 336 | |a text |b txt |2 rdacontent | ||
| 337 | |a computer |b c |2 rdamedia | ||
| 338 | |a online resource |b cr |2 rdacarrier | ||
| 500 | |a Electronic resource. | ||
| 502 | |g Thesis |b M.S. |c Michigan State University. Electrical Engineering |d 2020. | ||
| 504 | |a Includes bibliographical references (pages 34-37). | ||
| 520 | |a Extrinsic calibration between lidar and camera sensors is needed for multi-modal sensor data fusion. However, obtaining precise extrinsic calibration can be tedious, computationally expensive, or involve elaborate apparatus. This thesis proposes a simple, fast, and robust method performing extrinsic calibration between a camera and lidar. The only required calibration target is a hand-held colored sphere mounted on a whiteboard. The convolutional neural networks are developed to automatically localize the sphere relative to the camera and the lidar. Then using the localization covariance models, the relative pose between the camera and lidar is derived. To evaluate the accuracy of our method, we record image and lidar data of a sphere at a set of known grid positions by using two rails mounted on a wall. The accurate calibration results are demonstrated by projecting the grid centers into the camera image plane and finding the error between these points and the hand-labeled sphere centers. | ||
| 588 | 0 | |a Online resource; title from PDF title page (viewed on Sept. 30, 2021) | |
| 650 | 0 | |a Calibration. |0 http://id.loc.gov/authorities/subjects/sh85018860 | |
| 650 | 0 | |a Optical radar |x Calibration. | |
| 650 | 0 | |a Neural networks (Computer science) |0 http://id.loc.gov/authorities/subjects/sh90001937 | |
| 655 | 7 | |a Academic theses. |2 fast |0 (OCoLC)fst01726453 | |
| 655 | 0 | |a Electronic dissertations. | |
| 856 | 4 | 0 | |u http://ezproxy.msu.edu/login?url=http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqm&rft_dat=xri:pqdiss:28157558 |z Connect to online resource - MSU authorized users |t 0 |
| 856 | 4 | 0 | |u https://doi.org/doi:10.25335/vnms-rd98 |z Connect to online resource - All users |
| 907 | |y .b14210498x |b 220601 |c 210503 | ||
| 998 | |a (4)wb |a (4)th |b 210503 |c m |d m |e - |f eng |g xx |h 0 |i 5 | ||
| 994 | |a C0 |b EEM | ||
| 999 | f | f | |i 194c5045-b23d-5f1b-8800-9ac7c942ce8e |s d380bbf8-07b9-5c5d-85eb-deb52d56ce2d |t 0 |
| 952 | f | f | |p Non-Circulating |a Michigan State University-Library of Michigan |b Michigan State University |c MSU Online Resource |d MSU Online Resource |t 0 |e MSU ONLINE THESIS |h Other scheme |i Electronic Resource |n 1 |
| 856 | 4 | 0 | |t 0 |u http://ezproxy.msu.edu/login?url=http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqm&rft_dat=xri:pqdiss:28157558 |y Connect to online resource - MSU authorized users |
| 856 | 4 | 0 | |t 0 |u https://doi.org/doi:10.25335/vnms-rd98 |y Connect to online resource - All users |