Online,Target-Free LiDAR-Camera Extrinsic Calibration via Cross-Modal Mask Matching

arXiv:2404.18083v1 Announce Type: cross
Abstract: LiDAR-camera extrinsic calibration (LCEC) is crucial for data fusion in intelligent vehicles. Offline, target-based approaches have long been the preferred choice in this field. However, they often demonstrate poor adaptability to real-world environments. This is largely because extrinsic parameters may change significantly due to moderate shocks or during extended operations in environments with vibrations. In contrast, online, target-free approaches provide greater adaptability yet typically lack robustness, primarily due to the challenges in cross-modal feature matching. …

abstract adaptability arxiv change cs.ai cs.cv cs.ro data environments free fusion however intelligent lidar modal offline parameters type vehicles via world