An Extrinsic Sensor Calibration Framework for Sensor-fusion based Autonomous Vehicle Perception

Mokhtar Bouain, Denis Berdjag, Nizar Fakhfakh, Rabie Ben Atitallah

2017

Abstract

In this paper we deal with sensor alignment problems that appear when implementing sensor fusion-based autonomous vehicle perception. We focus on extrinsic calibration of vision-based and line scan LIDAR sensors. Based on state-of-art solutions, a consistent calibration toolchain is developed, with improvements (accuracy and calibration duration). Additionally, sensor alignment/calibration impact on fusion-based perception is investigated. Experimental results are provided for illustration, using real-world data.

Paper Citation

in Harvard Style

Bouain M., Berdjag D., Fakhfakh N. and Ben Atitallah R. (2017). An Extrinsic Sensor Calibration Framework for Sensor-fusion based Autonomous Vehicle Perception . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-263-9, pages 505-512. DOI: 10.5220/0006438105050512

in Bibtex Style

@conference{icinco17,
author={Mokhtar Bouain and Denis Berdjag and Nizar Fakhfakh and Rabie Ben Atitallah},
title={An Extrinsic Sensor Calibration Framework for Sensor-fusion based Autonomous Vehicle Perception},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2017},
pages={505-512},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006438105050512},
isbn={978-989-758-263-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - An Extrinsic Sensor Calibration Framework for Sensor-fusion based Autonomous Vehicle Perception
SN - 978-989-758-263-9
AU - Bouain M.
AU - Berdjag D.
AU - Fakhfakh N.
AU - Ben Atitallah R.
PY - 2017
SP - 505
EP - 512
DO - 10.5220/0006438105050512