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Automatic One-Shot LiDAR Alignment Inspection System Using NIR Camera
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DOI：10.1109/JSEN.2023.3245219.png)
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摘要
En 中文
In this study, we propose an accurate automatic light detection and ranging (LiDAR) alignment inspection system designed for manufacturing environments. The proposed inspection system is a single-shot, static method that uses a target system composed of a planar target with an near infrared (NIR) camera. Each laser beam spot projected on the target surface is segmented and located by analyzing the NIR images. We also propose a method to extract and match the corresponding beam feature points from the 3-D point cloud and NIR image. The correspondence points are used to estimate an extrinsic LiDAR pose related to the target frame, which is then converted into a pose relative to the vehicle's body. We validated the performance of the proposed system with experiments using a low-resolution LiDAR, and it exhibited an accuracy as high as 0.02 degrees and 0.4 mm for rotation and translation alignment, respectively.
Keyword:
Alignment inspection
extrinsic calibration
light detection and ranging (Lidar)
near infrared (NIR) camera
pose estimation
期刊
IF:
4.5
论文数:
2.2W
被引数:
7.3W
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MEASUREMENTIF5.6
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