CalibRCNN: Calibrating Camera and LiDAR by Recurrent Convolutional Neural Network and Geometric Constraints
Jieying Shi,Ziheng Zhu,Jianhua Zhang,Ruyu Liu,Zhenhua Wang,Shengyong Chen,Honghai Liu,Jieying Shi,Ziheng Zhu,Jianhua Zhang,Ruyu Liu,Zhenhua Wang,Shengyong Chen,Honghai Liu
In this paper, we present Calibration Recurrent Convolutional Neural Network (CalibRCNN) to infer a 6 degrees of freedom (DOF) rigid body transformation between 3D LiDAR and 2D camera. Different from the existing methods, our 3D-2D CalibRCNN not only uses the LSTM network to extract the temporal features between 3D point clouds and RGB images of consecutive frames, but also uses the geometric loss...
