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A Comprehensive Approach for Camera/LIDAR Frame Alignment

Abstract : This paper deals with the initial phase of any multi-sensor acquisition, the sensor alignment process. We focus on extrinsic calibration of vision-based and line scan LIDAR sensors for automotive application. We investigate two research approaches for the calibration process: analytical and numeric solutions. Additionally, we present a complete implementable tool-chain, to extract the co-features for both types of sensors: line detections for cameras and segmentation process for LIDAR sensors. Moreover, we investigate the impact of the calibration accuracy on sensor fusion performance. Results of experiments using real-world data are presented.
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https://hal-uphf.archives-ouvertes.fr/hal-03378974
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Submitted on : Thursday, October 14, 2021 - 5:49:12 PM
Last modification on : Wednesday, November 3, 2021 - 9:09:44 AM

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Mokhtar Bouain, Denis Berdjag, Nizar Fakhfakh, Rabie Ben Atitallah. A Comprehensive Approach for Camera/LIDAR Frame Alignment. Informatics in Control, Automation and Robotics, 495, Springer International Publishing, pp.761-785, 2020, Lecture Notes in Electrical Engineering, ⟨10.1007/978-3-030-11292-9_38⟩. ⟨hal-03378974⟩

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