Automatic Extrinsic Calibration of Vision and Lidar by Maximizing Mutual Information

This paper reports on an algorithm for automatic, targetless, extrinsic calibration of a lidar and optical camera system based upon the maximization of mutual information between the sensor‐measured surface intensities. The proposed method is completely data‐driven and does not require any fiducial...

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Veröffentlicht in:	Journal of field robotics 2015-08, Vol.32 (5), p.696-722
Hauptverfasser:	Pandey, Gaurav, McBride, James R., Savarese, Silvio, Eustice, Ryan M.
Format:	Artikel
Sprache:	eng
Schlagworte:	Automation Calibration Cameras Empirical analysis Lidar Maximization Three dimensional Variance
Online-Zugang:	Volltext
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