Mutual Absolute Calibration of Lidar Mounting Positions on Vehicles using CAD Models

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Extrinsic calibration of a sensor mounting position on a vehicle is essential for a truthful mapping of the sensor data with respect to the vehicle. However, extrinsic calibration is usually cumbersome due to complex measurement setups or requirements on the environment, e.g., locally planar surfaces. We propose to use mutual detections of sensors mounted on different vehicles for calibrating their mounting positions. To maximize the accuracy of the detected vehicle poses, our developed method uses CAD models of the involved vehicles. Based on the accuracy of each detected vehicle pose, we further derive a formulation to estimate the calibration accuracy. The benefits of our methods are demonstrated using Monte Carlo simulations and real-world experiments with two BMW test vehicles.

Original languageEnglish
Title of host publication2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728141497
DOIs
StatePublished - 20 Sep 2020
Event23rd IEEE International Conference on Intelligent Transportation Systems, ITSC 2020 - Rhodes, Greece
Duration: 20 Sep 202023 Sep 2020

Publication series

Name2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020

Conference

Conference23rd IEEE International Conference on Intelligent Transportation Systems, ITSC 2020
Country/TerritoryGreece
CityRhodes
Period20/09/2023/09/20

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