velo2cam_calibration
https://github.com/ruipimentelfigueiredo/velo2cam_calibration
Science Score: 67.0%
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✓CITATION.cff file
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✓DOI references
Found 3 DOI reference(s) in README -
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Links to: arxiv.org, ieee.org -
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○Scientific vocabulary similarity
Low similarity (12.6%) to scientific vocabulary
Repository
Basic Info
- Host: GitHub
- Owner: ruipimentelfigueiredo
- License: gpl-2.0
- Language: C++
- Default Branch: master
- Size: 5.25 MB
Statistics
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
- Releases: 0
Metadata Files
README.md
velo2camcalibration [
](https://build.ros.org/view/Ndev/job/Ndevvelo2camcalibration_ubuntufocal_amd64/)
The velo2cam_calibration software implements a state-of-the-art automatic calibration algorithm for pair of sensors composed of LiDAR and camera devices in any possible combination, as described in this paper:
Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups
Jorge Beltrán, Carlos Guindel, Arturo de la Escalera, Fernando García
IEEE Transactions on Intelligent Transportation Systems, 2022
[Paper] [Preprint]
Setup
This software is provided as a ROS package. To install:
1. Clone the repository into your catkin_ws/src/ folder.
2. Install run dependencies: sudo apt-get install ros-<distro>-opencv-apps
3. Build your workspace as usual.
Usage
See HOWTO.md for detailed instructions on how to use this software.
To test the algorithm in a virtual environment, you can launch any of the calibration scenarios included in our Gazebo validation suite.
Calibration target
The following picture shows a possible embodiment of the proposed calibration target used by this algorithm and its corresponding dimensional drawing.
Note: Other size may be used for convenience. If so, please configure node parameters accordingly.
Citation
If you use this work in your research, please consider citing the following paper:
@article{beltran2022,
author={Beltrán, Jorge and Guindel, Carlos and de la Escalera, Arturo and García, Fernando},
journal={IEEE Transactions on Intelligent Transportation Systems},
title={Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups},
year={2022},
doi={10.1109/TITS.2022.3155228}
}
A previous version of this tool is available here and was described on this paper.
Owner
- Name: Rui P. Figueiredo
- Login: ruipimentelfigueiredo
- Kind: user
- Repositories: 35
- Profile: https://github.com/ruipimentelfigueiredo
Postdoctoral Researcher at AAU previously capra robotics, AU, and VisLab, Instituto de Sistemas e Robótica, Instituto Superior Técnico
Citation (CITATION.cff)
cff-version: 1.2.0
message: "If you use this software, please cite it as below."
authors:
- family-names: "Beltrán"
given-names: "Jorge"
orcid: "https://orcid.org/0000-0001-5966-7641"
- family-names: "Guindel"
given-names: "Carlos"
orcid: "https://orcid.org/0000-0003-1300-3879"
title: "velo2cam_calibration"
version: 2.0.0
date-released: 2021-01-13
url: "https://github.com/beltransen/velo2cam_calibration"
preferred-citation:
type: article
authors:
- family-names: "Beltrán"
given-names: "Jorge"
orcid: "https://orcid.org/0000-0001-5966-7641"
- family-names: "Guindel"
given-names: "Carlos"
orcid: "https://orcid.org/0000-0003-1300-3879"
- family-names: "de la Escalera"
given-names: "Arturo"
orcid: "https://orcid.org/0000-0002-2618-857X"
- family-names: "García"
given-names: "Fernando"
orcid: "https://orcid.org/0000-0002-6291-5009"
doi: "10.1109/TITS.2022.3155228"
journal: "IEEE Transactions on Intelligent Transportation Systems"
title: "Automatic Extrinsic Calibration for Lidar-Stereo Vehicle Sensor Setups"
year: 2022