论文标题
3D-LIDAR相机外部校准的实验评估
Experimental Evaluation of 3D-LIDAR Camera Extrinsic Calibration
论文作者
论文摘要
在本文中，我们对三种不同目标的3D-LIDAR相机校准算法进行实验比较。我们简要阐明了每种方法背后的数学背景，并提供了对所有这些方法易于数据收集的实用方面的见解。我们在传感器套件上广泛评估了这些算法，该算法通过评估它们对随机初始化的鲁棒性以及使用均值线重新投影误差（MLRE）和工厂立体校准误差（例如平均线重新投影误差（MLRE））来组成多个摄像机和激光镜头。我们还显示了嘈杂传感器对所有算法产生的校准的影响，并以在哪些情况下应使用校准算法的注释。
In this paper we perform an experimental comparison of three different target based 3D-LIDAR camera calibration algorithms. We briefly elucidate the mathematical background behind each method and provide insights into practical aspects like ease of data collection for all of them. We extensively evaluate these algorithms on a sensor suite which consists multiple cameras and LIDARs by assessing their robustness to random initialization and by using metrics like Mean Line Re-projection Error (MLRE) and Factory Stereo Calibration Error. We also show the effect of noisy sensor on the calibration result from all the algorithms and conclude with a note on which calibration algorithm should be used under what circumstances.
