This work is an expend version of livox_camera_calib(hku-mars/livox_camera_calib), which is suitable for spinning LiDAR。

Related tags

Artificial Intelligence expend_lidar_camera_calib
Overview

expend_lidar_camera_calib

This work is an expend version of livox_camera_calib, which is suitable for spinning LiDAR。

In order to apply this algorithm on spinning LIDAR(e.g:VLP16)， I adding the preprocess process(FLOAM) to make the point cloud of the spinning LiDAR denser.

Data Prepare

When you calibrate the rotating lidar and camera, record the data by holding the device(lidar and camera) stationary for a period of time and then slowly and repeatedly move the entire device in this direction to accumulate the point cloud.

Build

cd ~/catkin_ws/src
git clone https://github.com/AFEICHINA/expend_lidar_camera_calib.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash

Run

step1: doing slam to accumulate dense pointcloud.

roslaunch floam floam_XXX.launch

step2: lidar camera calibration

roslaunch livox_camera_calib calib_XXX.launch

My Result

LIDAR : Robosense RS-Bpearl
Camera: MindVison MV-SUA133GC-T

slam result:

calib result:

Acknowledgements

Thanks for livox_camera_calib and FLOAM.

You might also like...
LIDAR(Livox Horizon) point cloud preprocessing, including point cloud filtering and point cloud feature extraction (edge points and plane points)
LIDAR(Livox Horizon) point cloud preprocessing, including point cloud filtering and point cloud feature extraction (edge points and plane points)

LIDAR(Livox Horizon) point cloud preprocessing, including point cloud filtering and point cloud feature extraction (edge points and plane points)

hongyu wang 12 Dec 28, 2022
LiDAR-Camera Calibration using 3D-3D Point correspondences
LiDAR-Camera Calibration using 3D-3D Point correspondences

ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"

Ankit Dhall 1.1k Jan 3, 2023
3D-Lidar Camera Calibration using planar Point to to camera Plane Constraint
3D-Lidar Camera Calibration using planar Point to to camera Plane Constraint

3D-Lidar Camera Calibration using planar Point to to camera Plane Constraint

Subodh Mishra 74 Nov 11, 2022
R3live - A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
R3live - A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

R3LIVE A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package News [Dec 31, 2021] Release of cod

HKU-Mars-Lab 1.3k Jan 4, 2023
Plaidml - PlaidML is a framework for making deep learning work everywhere.
Plaidml - PlaidML is a framework for making deep learning work everywhere.

A platform for making deep learning work everywhere. Documentation | Installation Instructions | Building PlaidML | Contributing | Troubleshooting | R

PlaidML 4.5k Jan 7, 2023
The PULP Ara is a 64-bit Vector Unit, compatible with the RISC-V Vector Extension Version 0.9, working as a coprocessor to CORE-V's CVA6 core

Ara Ara is a vector unit working as a coprocessor for the CVA6 core. It supports the RISC-V Vector Extension, version 0.9. Dependencies Check DEPENDEN

null 185 Dec 24, 2022
the C++ version of solov2 with ncnn
the C++ version of solov2 with ncnn

the C++ version of SOLOV2 with ncnn

DayBreak 70 Jan 4, 2023
Final version of Plan 9 4th Edition from Bell Labs

This is a re-release of the final version of the 4th Edition of Plan 9 from Bell Labs distributed directly by Bell Labs. 4th Edition was originally r

Serge Vakulenko 8 Jun 21, 2022
the C++ version of Seq2Seq with ncnn
the C++ version of Seq2Seq with ncnn

the C++ version of Seq2Seq with ncnn

DayBreak 22 Nov 3, 2022
Comments
  • 速腾32线

    速腾32线

    你好，我使用速腾32线激光雷达，相机为USB免驱，使用rosbag录制了/points_raw和/usb_cam/image_raw两个主题的包， 修改了floam_rsbpearl32.launch和laserProcessingNode.cpp文件，如图所示 1 : 2 执行：roslaunch floam floam_rsbpearl32.launch，如图所示： 3 请问我错过了什么？谢谢！期待你的回复！

    opened by yyqgood 5
  • How can I solve the problem about

    How can I solve the problem about "LZ4_streamDecode_t"?

    Hello! When I run the command of "catkin_make", there is a problem about "LZ4_streamDecode_t". The detailed information is followed. error: conflicting declaration ‘typedef struct LZ4_streamDecode_t LZ4_streamDecode_t’ edef struct { unsigned long long table[LZ4_STREAMDECODESIZE_U64]; } LZ4_streamDecode_t; ^~~~~~~~~~~~~~~~~~

    opened by Duke-Rodriguez-Rudolph 2
Owner
afei
afei
GitHub
ICRA 2021 - Robust Place Recognition using an Imaging Lidar

Robust Place Recognition using an Imaging Lidar A place recognition package using high-resolution imaging lidar. For best performance, a lidar equippe

Tixiao Shan 296 Jan 1, 2023
FG-Net: Fast Large-Scale LiDAR Point Clouds Understanding Network Leveraging Correlated Feature Mining and Geometric-Aware Modelling

FG-Net: Fast Large-Scale LiDAR Point Clouds Understanding Network Leveraging Correlated Feature Mining and Geometric-Aware Modelling Comparisons of Running Time of Our Method with SOTA methods RandLA and KPConv:

Kangcheng LIU 80 Dec 28, 2022
Official page of "Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor"

Patchwork Official page of "Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor

Hyungtae Lim 252 Dec 21, 2022
IA-LIO-SAM is enhanced LIO-SAM using Intensity and Ambient channel from OUSTER LiDAR.

IA-LIO-SAM Construction monitoring is one of the key modules in smart construction. Unlike structured urban environment, construction site mapping is

Kevin Jung 82 Dec 13, 2022
A real-time LiDAR SLAM package that integrates FLOAM and ScanContext.

SC-FLOAM What is SC-FLOAM? A real-time LiDAR SLAM package that integrates FLOAM and ScanContext. FLOAM for odometry (i.e., consecutive motion estimati

Jinlai Zhang 16 Jan 8, 2023
A real-time LiDAR SLAM package that integrates TLOAM and ScanContext.

SC-TLOAM What is SC-TLOAM? A real-time LiDAR SLAM package that integrates TLOAM and ScanContext. TLOAM for odometry. ScanContext for coarse global loc

Jinlai Zhang 3 Sep 17, 2021
An implementation on Fast Ground Segmentation for 3D LiDAR Point Cloud Based on Jump-Convolution-Process.

An implementation on "Shen Z, Liang H, Lin L, Wang Z, Huang W, Yu J. Fast Ground Segmentation for 3D LiDAR Point Cloud Based on Jump-Convolution-Process. Remote Sensing. 2021; 13(16):3239. https://doi.org/10.3390/rs13163239"

Wangxu1996 59 Jan 5, 2023
A LiDAR point cloud cluster for panoptic segmentation

Divide-and-Merge-LiDAR-Panoptic-Cluster A demo video of our method with semantic prior: More information will be coming soon! As a PhD student, I don'

YimingZhao 65 Dec 22, 2022
Real-time LiDAR SLAM: Scan Context (18 IROS) + LeGO-LOAM (18 IROS)

SC-LeGO-LOAM NEWS (Nov, 2020) A Scan Context integration for LIO-SAM, named SC-LIO-SAM (link), is also released. Real-time LiDAR SLAM: Scan Context (1

Giseop Kim 11 Jul 15, 2022
The code implemented in ROS projects a point cloud obtained by a Velodyne VLP16 3D-Lidar sensor on an image from an RGB camera.

PointCloud on Image The code implemented in ROS projects a point cloud obtained by a Velodyne VLP16 3D-Lidar sensor on an image from an RGB camera. Th

Edison Velasco Sánchez 5 Aug 12, 2022