Product Details

Modules for Velodyne 3D LiDAR Calibration and Data Processing

Created: 2014

Czech title
Moduly pro kalibraci a zpracování dat z Velodyne 3D LiDARu
Type
software
License
In order to use the result by another entity, it is always necessary to acquire a license
License Fee
The licensor does not require a license fee for the result
Authors
Veľas Martin, Ing., Ph.D.
Španěl Michal, Ing., Ph.D. (DCGM)
Materna Zdeněk, Ing., Ph.D. (DCGM)
Keywords

Camera, LiDAR, Velodyne, calibration, 3D marker, point cloud, road detection, obstacle detection

Description

This software contains several ROS (http://www.ros.org/) (Robot Operating System) modules for processing data from Velodyne 3D LiDAR, e.g. for road and obstacle detection. One of the modules implements a new pipeline for calibration, i.e. mutual pose and orientation estimation, of the camera and LiDAR sensor using a coarse to fine approach. The calibration benefits from a novel 3D marker which can be robustly detected in both the camera image and the LiDAR scan. The method requires only a single pair of camera-LiDAR frames for estimating large sensors displacement. Consequent refinement step searches for more accurate calibration in a small subspace of calibration parameters.

Location

   - http://www.fit.vutbr.cz/research/prod/index.php?id=384    - https://github.com/robofit/but_velodyne

License Conditions

Distributed under LGPL version 3 open source license.

Projects
The IT4Innovations Centre of Excellence, MŠMT, Operační program Výzkum a vývoj pro inovace, ED1.1.00/02.0070, 2011-2015, completed
Research groups
Robotic research group Robo@FIT (RG ROBO)
Computer Graphics Research Group (RG GRAPH)
Departments
Department of Computer Graphics and Multimedia (DCGM)
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