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Package Summary

The velo2cam_calibration package

  • Maintainer status: maintained
  • Maintainer: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
  • Author: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
  • License: GPLv2
  • Source: git https://github.com/beltransen/velo2cam_calibration.git (branch: master)

Package Summary

The velo2cam_calibration package

  • Maintainer status: maintained
  • Maintainer: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
  • Author: Jorge Beltran <jbeltran AT ing.uc3m DOT es>, Carlos Guindel <cguindel AT ing.uc3m DOT es>
  • License: GPLv2
  • Source: git https://github.com/beltransen/velo2cam_calibration.git (branch: master)

Overview

This package implements an Automatic Calibration algorithm for Lidar-Stereo camera setups [1].

Package developed at Intelligent Systems Laboratory, Universidad Carlos III de Madrid.

velo2cam_calibration_setup.png

Nodes

stereo_pattern

Subscribed Topics

cloud1 (sensor_msgs/PointCloud2)

Published

Parameters

laser_pattern

Subscribed Topics

cloud1 (sensor_msgs/PointCloud2)

Published Topics

Parameters

velo2cam_calibration

Subscribed Topics

cloud1 (velo2cam_calibration::ClusterCentroids) cloud2 (velo2cam_calibration::ClusterCentroids)

Published Topics

tf relating both sensors

Parameters

Usage

Some sample .launch files are provided in this package. The simplest way to launch the algorithm is by running the three main ROS nodes as follows:

roslaunch velo2cam_calibration laser_pattern.launch

roslaunch velo2cam_calibration stereo_pattern.launch

roslaunch velo2cam_calibration velo2cam_calibration.launch

Note: In order to test the algorithm with a proper ground truth, a simulator environment in Gazebo is provided here

Calibration target details

The following scheme shows the real size of the calibration target used by this algorithm. Measurements are given in centimeters (cm).

calibration_target_scheme.png

Note: Other size may be used for convenience. If so, please configure nodes parameters accordingly.

Citation

[1] Guindel, C., Beltrán, J., Martín, D. and García, F. (2017). Automatic Extrinsic Calibration for Lidar-Stereo Vehicle Sensor Setups. IEEE International Conference on Intelligent Transportation Systems (ITSC), 674–679.

Pre-print available here


2019-07-13 13:19