Journal of Shandong University(Engineering Science) ›› 2022, Vol. 52 ›› Issue (6): 56-62.doi: 10.6040/j.issn.1672-3961.0.2022.069

• 交通工程——智慧交通专题 • Previous Articles    

Method for time and space synchronization between roadside LiDAR and camera

WANG Shujian1, YAN Zongyao1, LIU Shijie2*, TIAN Yuan3   

  1. 1. Shandong High Speed Construction Management Group Co. Ltd., Jinan 250001, Shandong, China;
    2. School of Microelectronics, Shandong University, Jinan 250101, Shandong, China;
    3. School of Qilu Transportation, Shandong University, Jinan 250002, Shandong, China
  • Published:2022-12-23

CLC Number: 

  • TN958.98
[1] 李琳,张旭,屠大维. 二维和三维视觉传感集成系统联合标定方法[J]. 仪器仪表学报, 2012, 33(11): 2473-2479. LI Lin, ZHANG Xu, TU Dawei. 2D and 3D visual sensing integrated system combined calibration method[J]. Journal of Instruments and Meters, 2012, 33(11): 2473-2479.
[2] 赵祥模,李娜,王国强,等. 基于GPS的公路视频影像信息系统[J]. 中国公路学报, 2006, 19(3): 87-91. ZHAO Xiangmo, LI Na, WANG Guoqiang, et al. Highway video information system based on GPS[J]. China Journal of Highway and Transport, 2006, 19(3): 87-91.
[3] 吴建清,宋修广. 同步定位与建图技术发展综述[J]. 山东大学学报(工学版), 2021, 51(5): 16-31. WU Jianqing, SONG Xiuguang. Simultaneous localization and built figure technology development review[J]. Journal of Shandong University(Engineering Science), 2021, 51(5): 16-31.
[4] 赵祥模,惠飞,史昕,等. 泛在交通信息服务系统的概念、架构与关键技术[J]. 交通运输工程学报, 2014,14(4):105-115. ZHAO Xiangmo, HUI Fei, SHI Xin, et al. Pan in the concept of traffic information service system, architecture and key technology[J]. Journal of Transportation Engineering, 2014, 14(4): 105-115.
[5] 吴建清,宋修广.智慧公路关键技术发展综述[J].山东大学学报(工学版),2020,50(4):52-69. WU Jianqing, SONG Xiuguang. Wisdom highway key technology development review[J]. Journal of Shandong University(Engineering Science), 2020, 50(4): 52-69.
[6] 邓志红,刘明阳,付梦印.一种改进的视觉传感器与激光测距雷达特征匹配点提取算法[J].光学技术,2010,36(1):43-47. DENG Zhihong, LIU Mingyang, FU Mengyin. An improved feature matching point extraction algorithm for vision sensor and LiDAR[J]. Optical Technique, 2010, 36(1): 43-47.
[7] 赵祥模,马建,关可,等.汽车综合性能分布式计算机网络自动测控系统[J].长安大学学报(自然科学版),2003(5):94-98. ZHAO Xiangmo, MA Jian, GUAN Ke, et al. Auto-mobile comprehensive performance of distributed computer network automatic measurement and control system[J]. Journal of Chang'anUniversity(Natural Science Edition), 2003(5): 94-98.
[8] 杨明,王宏,张钹.基于激光雷达的移动机器人位姿估计方法综述[J].机器人,2002(2):177-183. YANG Ming, WANG Hong, ZHANG Bo. Pose estimation for mobile robots based on LiDAR[J]. Robot, 2002(2): 177-183.
[9] 刘大学,戴斌,李政,等.一种单线激光雷达和可见光摄像机的标定方法[J].华中科技大学学报(自然科学版),2008,36(增刊1):68-71. LIU Daxue, DAI Bin, LI Zheng, et al. A single laser radar and visible light camera calibration method[J]. Journal of Huazhong University of Science and Technology(Natural Science Edition), 2008, 36(Suppl.1):68-71.
[10] 焦宏伟,秦石乔,胡春生,等.一种脉冲激光雷达与摄像机标定方法的研究[J].中国激光,2011,38(1):221-225. JIAO Hongwei, QIN Shiqiao, HU Chunsheng, et al. Research on calibration method of pulsed LiDAR and camera[J]. Chinese Journal of Lasers, 2011, 38(1): 221-225.
[11] 温淑慧,问泽藤,刘鑫,等.基于ROS的移动机器人自主建图与路径规划[J].沈阳工业大学学报,2022,44(1):90-94. WEN Shuhui, WEN Zeteng, LIU Xin, et al. Autonomous mapping and path planning of mobile robots based on ros[J]. Journal of Shenyang University of Technology, 2022, 44(1): 90-94.
[12] COUSINS S, GERKEY B, CONLEY K, et al. Sharing software with ros [ros topics] [J]. IEEE Robotics and Automation Magazine, 2010, 17(2): 12-14.
[13] ZHANG Y, DI X G, YAN S Y, et al. A simple self-calibration method for the internal time synchronization of MEMS LiDAR[EB/OL]. Computer Science.(2021-09-26)[2022-02-19]. https://arxiv.org/abs/2109.12506.
[14] 董方新,蔡军,解杨敏.立体视觉和三维激光系统的联合标定方法[J].仪器仪表学报,2017,38(10):2589-2596. DONG Fangxin, CAI Jun, XIE Yangmin. Stereo vision and joint calibration method of 3D laser system[J]. Journal of Instruments and Meters, 2017, 38(10): 2589-2596.
[15] XIANG Z Y, ZHENG L. Novel joint calibration method of camera and 3D laser range finder[J]. Journal of Zhejiang University(Engineering Science), 2009, 43(8): 1401-1405.
[16] 魏克全,时兆峰,李晗,等.单目摄像机与三维激光雷达联合标定的研究[J].导航定位与授时,2015,2(6):69-74. WEI Kequan, SHI Zhaofeng, LI Han, et al. Research on joint calibration of monocular camera and 3D LiDAR[J]. Navigation, Positioning and Timing, 2015, 2(6): 69-74.
[17] 谭启蒙,胡成威,高升.空间机械臂视觉相机内参标定技术研究[J].航天返回与遥感,2013,34(6):74-80. TAN Qimeng, HU Chengwei, GAO Sheng. Research on internal parameter calibration technology of space manipulator vision camera[J]. Aerospace Return and Remote Sensing, 2013, 34(6): 74-80.
[18] 刘明,侯作勋,李光耀,等.空间机械臂多任务视觉相机电子学设计方法[J].航天返回与遥感,2021,42(4):57-65. LIU Ming, HOU Zuoxun, LI Guangyao, et al. Space manipulator multitasking vision camera design method[J]. Journal of Electronics and Space Return and Remote Sensing, 2021, 42(4): 57-65.
[19] TANG Z, LIN Y S, LEE K H, et al. ESTHER: joint camera self-calibration and automatic radial distortion correction from tracking of walking humans[J]. IEEE Access, 2019(7): 10754-10766.
[20] ZHOU K, HOU Q, WANG R, et al. Real-time kd-tree construction on graphics hardware[J]. ACM Transactions on Graphics(TOG), 2008, 27(5): 1-11.
[21] 何明,李勇,方秀琴,等.一种随机抽样一致性算法的建筑物平面点云提取方法[J].遥感信息,2018,33(3):104-107. HE Ming, LI Yong, FANG Xiuqin, et al. A random sampling consistency algorithm method to extract building plane point cloud[J]. Journal of Remote Sensing Information, 2018, 33(3):104-107.
[22] 彭杰,李磊民,石繁荣.无阈值改进随机抽样一致性点云配准算法[J].制造业自动化,2020,42(10):72-76. PENG Jie, LI Leimin, SHI Fanrong. No threshold to improve consistency random sampling point cloud registration algorithm[J]. Journal of Manufacturing Automation, 2020, 42(10):72-76.
[23] 薛艺舟. 面向自动驾驶的激光雷达与相机联合标定方法研究[D].北京:北京建筑大学,2021. XUE Yizhou. Research on joint calibration method of LiDAR and camera for autonomous driving[D]. Beijing: Beijing University of Civil Engineering and Archi-tecture, 2021.
[1] ZHOU Yong, LÜ Chen, HOU Fujin, GUO Xinming, SONG Xiuguang. Data fusion method of multi roadside LiDAR based on coordinate transformation [J]. Journal of Shandong University(Engineering Science), 2022, 52(6): 41-49.
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
No Suggested Reading articles found!