Joint calibration of a multimodal sensor system for autonomous vehicles

Muhovič, Jon Natanael (avtor), Perš, Janez (avtor)

Multimodal sensor systems require precise calibration if they are to be used in the field. Due to the difficulty of obtaining the corresponding features from different modalities, the calibration of such systems is an open problem. We present a systematic approach for calibrating a set of cameras with different modalities (RGB, thermal, polarization, and dual-spectrum near infrared) with regard to a LiDAR sensor using a planar calibration target. Firstly, a method for calibrating a single camera with regard to the LiDAR sensor is proposed. The method is usable with any modality, as long as the calibration pattern is detected. A methodology for establishing a parallax-aware pixel mapping between different camera modalities is then presented. Such a mapping can then be used to transfer annotations, features, and results between highly differing camera modalities to facilitate feature extraction and deep detection and segmentation methods.

• Jezik: Angleški jezik
• Ključne besede: USV, calibration, multimodal system, annotation, autonomous vehicle
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FE - Fakulteta za elektrotehniko
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Leto izida: 2023
• Št. strani: Str. 1-22
• Številčenje: Vol. 23, iss. 12, [article no.] 5676
• PID: 20.500.12556/RUL-148255
• UDK: 681.586: 621.713.3
• ISSN pri članku: 1424-8220
• DOI: 10.3390/s23125676
• COBISS.SI-ID: 160796163
• Datum objave v RUL: 07.08.2023

Gradivo je del revije

• Naslov: Sensors
• Skrajšan naslov: Sensors
• Založnik: MDPI
• ISSN: 1424-8220
• COBISS.SI-ID: 10176278

Licence

• Licenca: CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by/4.0/deed.sl
• Opis: To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.

Sekundarni jezik

• Jezik: Slovenski jezik
• Ključne besede: USV, kalibracija, večmodalni sistem, anotacije, avtonomno plovilo

Projekti

• Financer: ARRS - Agencija za raziskovalno dejavnost Republike Slovenije
• Številka projekta: J2-2506-2020
• Naslov: Adaptivne globoke metode zaznavanja za avtonomna plovila

• Financer: ARRS - Agencija za raziskovalno dejavnost Republike Slovenije
• Številka projekta: P2-0095-2020
• Naslov: Vzporedni in porazdeljeni sistemi