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An Extrinsic Sensor Calibration Framework for Sensor-fusion based Autonomous Vehicle Perception

Abstract : In this paper we deal with sensor alignment problems that appear when implementing sensor fusion-based autonomous vehicle perception. We focus on extrinsic calibration of vision-based and line scan LIDAR sensors. Based on state-of-art solutions, a consistent calibration toolchain is developed, with improvements (accuracy and calibration duration). Additionally, sensor alignment/calibration impact on fusion-based perception is investigated. Experimental results are provided for illustration, using real-world data.
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https://hal-uphf.archives-ouvertes.fr/hal-03388639
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Submitted on : Wednesday, October 20, 2021 - 3:17:40 PM
Last modification on : Wednesday, November 3, 2021 - 4:43:30 AM

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Mokhtar Bouain, Denis Berdjag, Nizar Fakhfakh, Rabie Ben Atitallah. An Extrinsic Sensor Calibration Framework for Sensor-fusion based Autonomous Vehicle Perception. 14th International Conference on Informatics in Control, Automation and Robotics, Jul 2017, Madrid, Spain. pp.505-512, ⟨10.5220/0006438105050512⟩. ⟨hal-03388639⟩

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