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arXiv · 1911.00635

Automatic Calibration of Dual-LiDARs Using Two Poles Stickered with Retro-Reflective Tape

Bohuan Xue·Jianhao Jiao·Yilong Zhu·Linwei Zheng·Dong Han·Ming Liu·Rui Fan
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Abstract

Multi-LiDAR systems have been prevalently applied in modern autonomous vehicles to render a broad view of the environments. The rapid development of 5G wireless technologies has brought a breakthrough for current cellular vehicle-to-everything (C-V2X) applications. Therefore, a novel localization and perception system in which multiple LiDARs are mounted around cities for autonomous vehicles has been proposed. However, the existing calibration methods require specific hard-to-move markers, ego-motion, or good initial values given by users. In this paper, we present a novel approach that enables automatic multi-LiDAR calibration using two poles stickered with retro-reflective tape. This method does not depend on prior environmental information, initial values of the extrinsic parameters, or movable platforms like a car. We analyze the LiDAR-pole model, verify the feasibility of the algorithm through simulation data, and present a simple method to measure the calibration errors w.r.t the ground truth. Experimental results demonstrate that our approach gains better flexibility and higher accuracy when compared with the state-of-the-art approach.

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Bohuan Xue, Jianhao Jiao, Yilong Zhu, Linwei Zheng, Dong Han, Ming Liu, Rui Fan. 2019-11-02. Automatic Calibration of Dual-LiDARs Using Two Poles Stickered with Retro-Reflective Tape. https://arxiv.org/abs/1911.00635

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