%0 Journal Article %A CHENG Ziyang %A JIA Ziyong %A LI Dongwei %A REN Guoquan %T Joint calibration method of camera and LiDAR based on trapezoidal checkerboard %D 2017 %R 10.11772/j.issn.1001-9081.2017.07.2062 %J Journal of Computer Applications %P 2062-2066 %V 37 %N 7 %X Aiming at the problem of information fusion between Light Detection And Ranging (LiDAR) data and camera images in the detection process of Unmanned Ground Vehicle (UGV) following the target vehicle, a method of joint calibration of LiDAR and camera based on a trapezoidal checkerboard was proposed. Firstly, by using the scanning information of the LiDAR in the trapezoidal calibration plate, the LiDAR installation angle and installation height were accessed. Secondly, the external parameters of the camera relative to the body were calibrated through the black and white checkerboard on the trapezoidal calibration plate. Then combining with the correspondence between the LiDAR data points and the pixel coordinates of the image, two sensors were jointly calibrated. Finally, integrating the LiDAR and the camera calibration results, the pixel data fusion of the LiDAR data and the camera image was carried out. As long as the trapezoidal calibration plate was placed in front of the vehicle body, the image and the LiDAR data were collected only once in the entire calibration process of two types of sensors. The experimental results show that the proposed method has high calibration accuracy with average position deviation of 3.5691 pixels (13 μm), and good fusion effect of LiDAR data and the visual image. It can effectively complete the spatial alignment of LiDAR and the camera, and is strongly robust to moving objects. %U http://www.joca.cn/EN/10.11772/j.issn.1001-9081.2017.07.2062