An Integrated Calibration Approach for 2D LiDAR and Stereo Camera Systems Utilizing Intensity Data

Yu Jin Lee, Woo Jin Ahn, Hyung Keun Lee*

We present an approach to the integrated extrinsic calibration of 2D LiDAR and stereo camera systems. Researchers have devised various methods for estimating the rigid-body transformation between 2D LiDAR scans and stereo camera images. To improve the reliability of feature extraction in this study, intensity data is additionally acquired and utilized alongside conventional angle and distance measurements. This intensity information enables the distinct identification of a checkerboard target solely using the 2D LiDAR. Given the parameters from a pre-calibrated stereo camera, these retrieved features can be transformed with very little additional uncertainty into an accurate estimate of the extrinsic calibration matrix. The results of this study provide a stable calibration foundation for multi-sensor fusion systems where precise environmental perception is essential.
Keywords: calibration, 2D LiDAR, stereo camera

Speaker 이유진 한국항공대학교