2024/05/16 by Xinyu Zhang, Zhang, Xinyu, Yijin Xiong +12 · 2 citations
Earth and Planetary Sciences · Environmental Science · Physics and Astronomy · #3D Surveying and Cultural Heritage #Advanced Optical Sensing Technologies #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Remote Sensing and LiDAR Applications
paper · pdf · doi:10.48550/arxiv.2405.10132
openalex publication_date 2024/05/16 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In the typical urban intersection scenario, both vehicles and infrastructures are equipped with visual and LiDAR sensors. By successfully integrating the data from vehicle-side and road monitoring devices, a more comprehensive and accurate environmental perception and information acquisition can be achieved. The Calibration of sensors, as an essential component of autonomous driving technology, has consistently drawn significant attention. Particularly in scenarios involving multiple sensors collaboratively perceiving and addressing localization challenges, the requirement for inter-sensor calibration becomes crucial. Recent years have witnessed the emergence of the concept of multi-end cooperation, where infrastructure captures and transmits surrounding environment information to vehicles, bolstering their perception capabilities while mitigating costs. However, this also poses technical complexities, underscoring the pressing need for diverse end calibration. Camera and LiDAR, the bedrock sensors in autonomous driving, exhibit expansive applicability. This paper comprehensively examines and analyzes the calibration of multi-end camera-LiDAR setups from vehicle, roadside, and vehicle-road cooperation perspectives, outlining their relevant applications and profound significance. Concluding with a summary, we present our future-oriented ideas and hypotheses.