Extrinsic Camera Calibration with Semantic Segmentation

Monocular camera sensors are vital to intelligent vehicle operation and automated driving assistance and are also heavily employed in traffic control infrastructure. Calibrating the monocular camera, though, is time-consuming and often requires significant manual intervention. In this work, we present an extrinsic camera calibration approach that automatizes the parameter estimation by utilizing semantic segmentation information from images and point clouds. Our approach relies on a coarse initial measurement of the camera pose and builds on lidar sensors mounted on a vehicle with high-precision localization to capture a point cloud of the camera environment. Afterward, a mapping between the camera and world coordinate spaces is obtained by performing a lidar-to-camera registration of the semantically segmented sensor data. We evaluate our method on simulated and real-world data to demonstrate low error measurements in the calibration results. Our approach is suitable for infrastructure sensors as well as vehicle sensors, while it does not require motion of the camera platform.

READ FULL TEXT

page 1

page 5

page 6

research
07/28/2020

Real-Time Point Cloud Fusion of Multi-LiDAR Infrastructure Sensor Setups with Unknown Spatial Location and Orientation

The use of infrastructure sensor technology for traffic detection has al...
research
03/09/2020

Probabilistic Egocentric Motion Correction of Lidar Point Cloud and Projection to Camera Images for Moving Platforms

The fusion of sensor data from heterogeneous sensors is crucial for robu...
research
04/21/2023

Automated Static Camera Calibration with Intelligent Vehicles

Connected and cooperative driving requires precise calibration of the ro...
research
05/27/2019

Heterogeneous Multi-sensor Calibration based on Graph Optimization

Many robotics and mapping systems contain multiple sensors to perceive t...
research
04/18/2019

Targetless Rotational Auto-Calibration of Radar and Camera for Intelligent Transportation Systems

Most intelligent transportation systems use a combination of radar senso...
research
11/05/2019

LACI: Low-effort Automatic Calibration of Infrastructure Sensors

Sensor calibration usually is a time consuming yet important task. While...
research
07/09/2020

Camera-Lidar Integration: Probabilistic sensor fusion for semantic mapping

An automated vehicle operating in an urban environment must be able to p...

Please sign up or login with your details

Forgot password? Click here to reset