Single-Shot is Enough: Panoramic Infrastructure Based Calibration of Multiple Cameras and 3D LiDARs
This addresses the calibration challenge for augmented reality devices, robotics, and autonomous vehicles, offering a more efficient solution that is incremental in improving practicality.
The paper tackles the problem of calibrating multiple cameras and 3D LiDARs, which is tedious and impractical for mass production, by proposing a single-shot solution that achieves comparable accuracy to state-of-the-art methods with much greater efficiency.
The integration of multiple cameras and 3D Li- DARs has become basic configuration of augmented reality devices, robotics, and autonomous vehicles. The calibration of multi-modal sensors is crucial for a system to properly function, but it remains tedious and impractical for mass production. Moreover, most devices require re-calibration after usage for certain period of time. In this paper, we propose a single-shot solution for calibrating extrinsic transformations among multiple cameras and 3D LiDARs. We establish a panoramic infrastructure, in which a camera or LiDAR can be robustly localized using data from single frame. Experiments are conducted on three devices with different camera-LiDAR configurations, showing that our approach achieved comparable calibration accuracy with the state-of-the-art approaches but with much greater efficiency.