TY  - JOUR
PY  - 2022//
TI  - Multi-sensor calibration techniques for camera-LiDAR sensor fusion
JO  - Transactions of the Korean Society of Automotive Engineers
A1  - Bae, Jongwook
A1  - Lee, Youngwoo
A1  - Koh, Junho
A1  - Lee, Jaeyoung
A1  - Choi, Junwon
SP  - 849
EP  - 858
VL  - 30
IS  - 10
N2  - In autonomous vehicles or robots, multiple sensors are used to achieve robust performance in a variety of perception tasks. Multi-sensor calibration is required to establish a spatial correspondence between different sensor coordinates. Camera-LiDAR calibration calculates the external parameters for transforming the representation of sensor data between the camera and LiDAR domains. In this paper, several camera-LiDAR calibration methods are reviewed and their practical applications are discussed. We demonstrate the application of the checkerboard-based camera-LiDAR calibration to a military armed vehicle equipped with Velodyne VLP-32C LiDAR sensor and Kaya Iron SDI 265 camera. We present the experimental results and discuss the practical tips for camera-LiDAR calibration.     키워드: 자율 주행, 센서 융합, 캘리브레이션, 딥러닝, 카메라, 라이다<p />  <p>Language: en</p>
LA  - en
SN  - 1225-6382
UR  - http://dx.doi.org/10.7467/KSAE.2022.30.10.849
ID  - ref1
ER  -