Automatic Miscalibration Detection and Correction of LiDAR and Camera Using Motion Cues  

作　　者：Pai Peng Dawei Pi Guodong Yin Yan Wang Liwei Xu Jiwei Feng 

机构地区：[1]School of Mechanical Engineering,Southeast University,Nanjing 211102,China [2]School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210014,China [3]School of Mechanical and Aerospace Engineering,Nanyang Technological University,Singapore,Singapore

出　　处：《Chinese Journal of Mechanical Engineering》2024年第2期318-329,共12页中国机械工程学报（英文版）

基　　金：Supported by National Natural Science Foundation of China(Grant Nos.52025121,52394263);National Key R&D Plan of China(Grant No.2023YFD2000301).

摘　　要：This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm that can continuously detect the miscalibration in each frame is designed,leveraging the rotational motion each individual sensor observes.Then,as sensor drift occurs,the projection constraints between visual feature points and LiDAR 3-D points are used to compute the scaled camera motion,which is further utilized to align the drifted LiDAR scan with the camera image.Finally,the proposed method is sufficiently compared with two representative approaches in the online experiments with varying levels of random drift,then the method is further extended to the offline calibration experiment and is demonstrated by a comparison with two existing benchmark methods.

关 键 词：Autonomous vehicle LiDAR and camera Miscalibration detection and correction Sensor drift 

分 类 号：U463.6[机械工程—车辆工程]