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arXiv · 2103.12941

Single-Shot is Enough: Panoramic Infrastructure Based Calibration of Multiple Cameras and 3D LiDARs

Chuan Fang·Shuai Ding·Zilong Dong·Honghua Li·Siyu Zhu·Ping Tan
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Abstract

The integration of multiple cameras and 3D Li- DARs has become basic configuration of augmented reality devices, robotics, and autonomous vehicles. The calibration of multi-modal sensors is crucial for a system to properly function, but it remains tedious and impractical for mass production. Moreover, most devices require re-calibration after usage for certain period of time. In this paper, we propose a single-shot solution for calibrating extrinsic transformations among multiple cameras and 3D LiDARs. We establish a panoramic infrastructure, in which a camera or LiDAR can be robustly localized using data from single frame. Experiments are conducted on three devices with different camera-LiDAR configurations, showing that our approach achieved comparable calibration accuracy with the state-of-the-art approaches but with much greater efficiency.

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Chuan Fang, Shuai Ding, Zilong Dong, Honghua Li, Siyu Zhu, Ping Tan. 2021-07-10. Single-Shot is Enough: Panoramic Infrastructure Based Calibration of Multiple Cameras and 3D LiDARs. https://arxiv.org/abs/2103.12941

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