Analytic Plane Covariances Construction for Precise Planarity-based Extrinsic Calibration of Camera and LiDAR
Gunhee Koo,Jaehyeon Kang,Bumchul Jang,Nakju Doh,Gunhee Koo,Jaehyeon Kang,Bumchul Jang,Nakju Doh
Planarity of checkerboards is a widely used feature for extrinsic calibration of camera and LiDAR. In this study, we propose two analytically derived covariances of (i) plane parameters and (ii) plane measurement, for precise extrinsic calibration of camera and LiDAR. These covariances allow the graded approach in planar feature correspondences by exploiting the uncertainty of a set of given featu...
