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Home / Proceedings / Proceedings of the AAAI Conference on Artificial Intelligence, 26 / No. 1: Twenty-Sixth AAAI Conference on Artificial Intelligence

Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information

March 8, 2023

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Authors

Gaurav Pandey

University of Michigan


James McBride

Ford Motor Company


Silvio Savarese

University of Michigan


Ryan Eustice

University of Michigan


DOI:

10.1609/aaai.v26i1.8379


Abstract:

This paper reports on a mutual information (MI) based algorithm for automatic extrinsic calibration of a 3D laser scanner and optical camera system. By using MI as the registration criterion, our method is able to work in situ without the need for any specific calibration targets, which makes it practical for in-field calibration. The calibration parameters are estimated by maximizing the mutual information obtained between the sensor-measured surface intensities. We calculate the Cramer-Rao-Lower-Bound (CRLB) and show that the sample variance of the estimated parameters empirically approaches the CRLB for a sufficient number of views. Furthermore, we compare the calibration results to independent ground-truth and observe that the mean error also empirically approaches to zero as the number of views are increased. This indicates that the proposed algorithm, in the limiting case, calculates a minimum variance unbiased (MVUB) estimate of the calibration parameters. Experimental results are presented for data collected by a vehicle mounted with a 3D laser scanner and an omnidirectional camera system.

Topics: AAAI

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Gaurav Pandey|| James McBride|| Silvio Savarese|| Ryan Eustice Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information Proceedings of the AAAI Conference on Artificial Intelligence, 26 (2012) 2053.

Gaurav Pandey|| James McBride|| Silvio Savarese|| Ryan Eustice Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information AAAI 2012, 2053.

Gaurav Pandey|| James McBride|| Silvio Savarese|| Ryan Eustice (2012). Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information. Proceedings of the AAAI Conference on Artificial Intelligence, 26, 2053.

Gaurav Pandey|| James McBride|| Silvio Savarese|| Ryan Eustice. Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information. Proceedings of the AAAI Conference on Artificial Intelligence, 26 2012 p.2053.

Gaurav Pandey|| James McBride|| Silvio Savarese|| Ryan Eustice. 2012. Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information. "Proceedings of the AAAI Conference on Artificial Intelligence, 26". 2053.

Gaurav Pandey|| James McBride|| Silvio Savarese|| Ryan Eustice. (2012) "Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information", Proceedings of the AAAI Conference on Artificial Intelligence, 26, p.2053

Gaurav Pandey|| James McBride|| Silvio Savarese|| Ryan Eustice, "Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information", AAAI, p.2053, 2012.

Gaurav Pandey|| James McBride|| Silvio Savarese|| Ryan Eustice. "Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information". Proceedings of the AAAI Conference on Artificial Intelligence, 26, 2012, p.2053.

Gaurav Pandey|| James McBride|| Silvio Savarese|| Ryan Eustice. "Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information". Proceedings of the AAAI Conference on Artificial Intelligence, 26, (2012): 2053.

Gaurav Pandey|| James McBride|| Silvio Savarese|| Ryan Eustice. Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information. AAAI[Internet]. 2012[cited 2023]; 2053.


ISSN: 2374-3468


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