LACI: Low-effort Automatic Calibration of Infrastructure Sensors

Muller J, Herrmann M, Strohbeck J, Belagiannis V, Buchholz M (2019)

Publication Type: Conference contribution

Publication year: 2019

Publisher: Institute of Electrical and Electronics Engineers Inc.

Pages Range: 3928-3933

Conference Proceedings Title: 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019

Event location: Auckland, NZL

ISBN: 9781538670248

DOI: 10.1109/ITSC.2019.8917310

Abstract

Sensor calibration usually is a time consuming yet important task. While classical approaches are sensor-specific and often need calibration targets as well as a widely overlapping field of view (FOV), within this work, a cooperative intelligent vehicle is used as callibration target. The vehicle is detected in the sensor frame and then matched with the information received from the cooperative awareness messages send by the coperative intelligent vehicle. The presented algorithm is fully automated as well as sensor-independent, relying only on a very common set of assumptions. Due to the direct registration on the world frame, no overlapping FOV is necessary. The algorithm is evaluated through experiment for four laserscanners as well as one pair of stereo cameras showing a repetition error within the measurement uncertainty of the sensors. A plausibility check rules out systematic errors that might not have been covered by evaluating the repetition error.

Authors with CRIS profile

Vasileios Belagiannis

Involved external institutions

Universität Ulm DE Germany (DE)

How to cite

APA:

Muller, J., Herrmann, M., Strohbeck, J., Belagiannis, V., & Buchholz, M. (2019). LACI: Low-effort Automatic Calibration of Infrastructure Sensors. In 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019 (pp. 3928-3933). Auckland, NZL: Institute of Electrical and Electronics Engineers Inc..

MLA:

Muller, Johannes, et al. "LACI: Low-effort Automatic Calibration of Infrastructure Sensors." Proceedings of the 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019, Auckland, NZL Institute of Electrical and Electronics Engineers Inc., 2019. 3928-3933.

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