多传感器融合标定方法汇总

干货第一时间送达

作者丨Tom Hardy@知乎

来源丨https://zhuanlan.zhihu.com/p/268908000

编辑丨3D视觉工坊

本文汇总了常见的一些单传感器、多传感器的标定融合paper、工程代码，应用于自动驾驶、3D视觉、SLAM等领域，供大家学习参考~

1、相机标定

Online Calibration of Exterior Orientations of a Vehicle-Mounted Surround-View Camera System

Calibration of fisheye camera using entrance pupil（鱼眼相机）

一些开源代码：

https://github.com/VLOGroup/dvs-calibration；

https://github.com/gorchard/DVScalibration。

2、单相机在线标定

1、A New Technique of Camera Calibration: A Geometric Approach Based on Principal Lines。

下载：https://arxiv.org/abs/1908.06539v1

2、Traffic Surveillance Camera Calibration by 3D Model Bounding Box Alignment for Accurate Vehicle Speed Measurement

下载：https://arxiv.org/abs/1702.06451v2

3、Autocamera Calibration for traffic surveillance cameras with wide angle lenses

下载：https://arxiv.org/abs/2001.07243v1

3、多相机标定

1、Calibration of Asynchronous Camera Networks: CALICO

下载：https://arxiv.org/abs/1903.06811v2

2、Infrastructure-based Multi-Camera Calibration using Radial Projections

3、 Infrastructure-Based Calibration of a Multi-Camera Rig

4、Leveraging Image-based Localization for Infrastructure-based Calibration of a Multi-camera Rig

4、相机雷达标定

1)Unified Intrinsic and Extrinsic Camera and LiDAR Calibration under Uncertainties（ICRA2020）

2)Analytic Plane Covariances Construction for Precise Planarity-Based Extrinsic Calibration of Camera and LiDAR（ICRA2020）

3)A Novel Calibration Method between a Camera and a 3D LiDAR with Infrared Images（ICRA2020）

4)Online Camera-LiDAR Calibration with Sensor Semantic Information（ICRA2020）

5)Automatic extrinsic calibration between a camera and a 3D Lidar using 3D point and plane correspondences

6)A Novel Method for the Extrinsic Calibration of a 2D Laser Rangefinder and a Camera

下载：https://arxiv.org/abs/1603.04132v4

7)LiDAR and Camera Calibration using Motion Estimated by Sensor Fusion Odometry

下载：https://arxiv.org/abs/1804.05178v1

8)Improvements to Target-Based 3D LiDAR to Camera Calibration

下载：https://arxiv.org/abs/1910.03126v2

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

下载：https://arxiv.org/abs/1904.08743v2

10)Semantic sensor fusion: from camera to sparse lidar information

下载：https://arxiv.org/abs/2003.01871v1

11)Automatic online calibration of cameras and lasers

12)Radar and vision sensors calibration for outdoor 3D reconstruction

13)A novel method of spatial calibration for camera and 2D radar based on registration

一些项目代码：

https://github.com/ankitdhall/lidar_camera_calibration;

https://github.com/robofit/but_velodyne/tree/master/but_calibration_camera_velodyne.

5、事件相机和Lidar标定

Calibration of Event-based Camera and 3D LiDAR

6、Lidar和双目相机标定融合

Intersection Safety using Lidar and Stereo sensors

https://zhuanlan.zhihu.com/p/147051259

7、激光雷达、Camera、毫米波雷达融合

1)Multiple Sensor Fusion and Classification for Moving Object Detection and Tracking.

2)An Extrinsic Calibration Tool for Radar, Camera and Lidar

3)Extrinsic 6DoF Calibration of 3D LiDAR and Radar

4)Extrinsic 6DoF Calibration of a Radar – LiDAR – Camera System Enhanced by Radar Cross Section Estimates Evaluation

8、IMU标定与融合

IMU内参标定：

https://github.com/Kyle-ak/imu_tk;

http://www.olliw.eu/2013/imu-data-fusing/;

9、Lidar-IMU标定

https://github.com/ethz-asl/lidar_align

10、Camera-IMU标定

https://github.com/ethz-asl/kalibr/wiki/calibrating-the-vi-sensor;

https://github.com/ethz-asl/kalibr;

11、2D Lidar标定

Extrinsic Calibration of an Eye-In-Hand 2D LiDAR Sensor in Unstructured Environments Using ICP

12、手眼标定

13、其它

1)AC/DCC : Accurate Calibration of Dynamic Camera Clusters for Visual SLAM

2)A Stable Adaptive Observer for Hard-Iron and Soft-Iron Bias Calibration and Compensation for Two-Axis Magnetometers: Theory and Experimental Evaluation

3)Precise 3D Calibration of Wafer Handling Robot by Visual Detection and Tracking of Elliptic-Shape Wafers

4)Globally Optimal Relative Pose Estimation for Camera on a Selfie Stick

5)Learning Camera Miscalibration Detection

6)Multiple Sensor Fusion and Classification for Moving Object Detection and Tracking

14、优秀博客

多传感器标定数据融合:

https://blog.csdn.net/qq_17256689/article/details/100037699?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromBaidu-2&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromBaidu-2

15、源码

https://github.com/tudelft-iv/multi_sensor_calibration

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