Automatic LiDAR-camera calibration: Extrinsic calibration for a LiDAR-camera pair using structure from motion and stochastic optimization

Visa enkel post
dc.contributor.authorDahlberg, Therese
dc.contributor.authorStrömberg, Valter
dc.contributor.departmentChalmers tekniska högskola / Institutionen för mekanik och maritima vetenskapersv
dc.contributor.examinerForsberg, Peter
dc.contributor.supervisorLangfjord Nordgård, Torgeir
dc.date.accessioned2022-06-29T14:54:59Z
dc.date.available2022-06-29T14:54:59Z
dc.date.issued2022sv
dc.date.submitted2020
dc.description.abstractThis thesis presents an approach to automatically and simultaneously perform extrinsic calibration of a LiDAR and a camera. Nowadays, a multitude of sensors are used in a majority of vehicles. Having correctly calibrated sensors is essential for attaining accurate data to use in various sensor dependent applications. Today’s LiDAR-camera calibration methods are often performed manually or require externally introduced calibration objects. However, the method proposed in this thesis is only dependent on 3D LiDAR point clouds and camera images. The method consists of two major parts. Firstly, the camera images were converted to 3D point clouds using a structure from motion pipeline, ensuring that the data from both sensors were comparable. Secondly, a genetic algorithm with an objective function based upon a 3D voxel grid filter was used to iteratively compare the overlap of the point clouds until convergence. The method proved to be successful in creating 3D point clouds from camera images and accurately estimating the rotational parameters for both sensors. However, it was not as robust and accurate as anticipated when estimating the sensor positions.sv
dc.identifier.coursecodeMMSX30sv
dc.identifier.urihttps://hdl.handle.net/20.500.12380/304955
dc.language.isoengsv
dc.relation.ispartofseries2022:27sv
dc.setspec.uppsokTechnology
dc.subjectLiDAR-camera calibrationsv
dc.subjectstochastic optimizationsv
dc.subjectgenetic algorithmsv
dc.subjectstructure from motionsv
dc.subjectpoint cloudssv
dc.titleAutomatic LiDAR-camera calibration: Extrinsic calibration for a LiDAR-camera pair using structure from motion and stochastic optimizationsv
dc.type.degreeExamensarbete för masterexamensv
dc.type.uppsokH
local.programmeSystems, control and mechatronics (MPSYS), MSc
Ladda ner
Original bundle
Visar 1 - 1 av 1
Bild (thumbnail)
Namn:
2022-27 Therese Dahlberg & Valter Strömberg.pdf
Storlek:
7.77 MB
Format:
Adobe Portable Document Format
Beskrivning:
Master thesis
Ladda ner
License bundle
Visar 1 - 1 av 1
Bild (thumbnail)
Namn:
license.txt
Storlek:
1.51 KB
Format:
Item-specific license agreed upon to submission
Beskrivning:
Ladda ner
Samling
Examensarbeten för masterexamen