Motion Guided LIDAR-camera Self-calibration and Accelerated Depth Upsampling for Autonomous Vehicles

28 Mar 2018Juan CastorenaGint PuskoriusGaurav Pandey

This work proposes a novel motion guided method for target-less self-calibration of a LiDAR and camera and use the re-projection of LiDAR points onto the image reference frame for real-time depth upsampling. The calibration parameters are estimated by optimizing an objective function that penalizes distances between 2D and re-projected 3D motion vectors obtained from time-synchronized image and point cloud sequences... (read more)

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