关键词: 激光雷达, 摄像机, 联合标定, 无人车, 信息融合

Abstract: Concern the practical application of vehicle tracking in Unmanned Ground Vehicle（UGV) Leader-follower Systems，a calibration method based on the trapezoidal checkerboard calibration board was proposed to realize the joint calibration of Li DAR(Light Detection And Ranging) and camera, and realize the projection of Li DAR and camera data fusion. During the experiment, the trapezoidal checkerboard was placed vertically in front of the vehicle, and the elevation angle of the Li DAR was obtained by the board. Combining the results of the first two steps and the correspondence between Li DAR points and the image pixel coordinates, the feature points are selected and the two sensors are jointly calibrated. At last, the Li DAR and camera image are integrated into pixel level based on the calibration results. Once the image and Li DAR data are acquired, the whole calibration process can be satisfied. The experiments results show that the method can effectively accomplish the spatial alignment between the Li DAR and the camera.

Key words: Light Detection And Ranging (Li DAR), camera, Unmanned Ground Vehicle (UGV), joint calibration, information fusion