Calibration and Sensor Fusion
Most modern autonomous systems in applications such as manufacturing, transportation, and construction, employ multiple sensors. Sensor Fusion is the process of bringing together data from multiple sensors, such as radar sensors, lidar sensors, and cameras. The fused data enables greater accuracy because it leverages the strengths of each sensor to overcome the limitations of the others.
To understand and correlate the data from individual sensors, you must develop a geometric correspondence between them. Calibration is the process of developing this correspondence. Use Lidar Toolbox™ functions to perform lidar-camera calibration. To get started, see What Is Lidar-Camera Calibration?
You can also interactively calibrate the sensors by using the Lidar Camera Calibrator app. For more information, see Get Started with Lidar Camera Calibrator.
Lidar Toolbox also supports downstream workflows such as projecting lidar points on images, fusing color information in lidar point clouds, and transferring bounding boxes from camera data to lidar data.
|Lidar Camera Calibrator||Interactively estimate rigid transformation between lidar sensor and camera|
Detect Calibration Parameters
|Estimate world frame coordinates of checkerboard corner points in image|
|Detect rectangular plane of specified dimensions in point cloud|
Calibrate Lidar and Camera
Fuse Sensor Data
|Project lidar point cloud data onto image coordinate frame|
|Fuse image information to lidar point cloud|
|Estimate 3-D bounding boxes in point cloud from 2-D bounding boxes in image|
|Estimate 2-D bounding box in camera frame using 3-D bounding box in lidar frame|
- What Is Lidar-Camera Calibration?
Fuse lidar and camera data.
- Calibration Guidelines
Guidelines to help you achieve accurate results for lidar-camera calibration.
- Coordinate Systems in Lidar Toolbox
Overview of coordinate systems in Lidar Toolbox.
- Get Started with Lidar Camera Calibrator
Interactively calibrate lidar and camera sensors.
- Read Lidar and Camera Data from Rosbag File
This example shows how to read and save images and point cloud data from a rosbag file.