3D LiDAR and color camera data fusion

Yuqi Ding; Jiaming Liu; Jinwei Ye; Weidong Xiang; Hsiao Chun Wu; Costas Busch

doi:10.1109/BMSB49480.2020.9379430

3D LiDAR and color camera data fusion

Yuqi Ding, Jiaming Liu, Jinwei Ye, Weidong Xiang, Hsiao Chun Wu, Costas Busch

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

3D LiDAR sensor and 2D color camera provide complementary information of a scene. It is essential to fuse both types of data to obtain a holistic representation of the real-world scene. In this paper, we present a method to fuse the data captured by rigidly mounted LiDAR and camera. We first cocalibrate the LiDAR and camera with a calibration target. We then establish 3D-2D correspondences and fuse the LiDAR and camera data through geometric transformations. Experimental results demonstrate that our method is able to fuse the 3D LiDAR point cloud with the 2D color image efficiently and accurately. Our method is also fast and can be used in autonomous driving applications.

Original language	English (US)
Title of host publication	15th IEEE International Symposium on Broadband Multimedia Systems and Broadcasting, BMSB 2020
Publisher	IEEE Computer Society
ISBN (Electronic)	9781728157849
DOIs	https://doi.org/10.1109/BMSB49480.2020.9379430
State	Published - Oct 27 2020
Externally published	Yes
Event	15th IEEE International Symposium on Broadband Multimedia Systems and Broadcasting, BMSB 2020 - Paris, France Duration: Oct 27 2020 → Oct 29 2020

Publication series

Name	IEEE International Symposium on Broadband Multimedia Systems and Broadcasting, BMSB
Volume	2020-October
ISSN (Print)	2155-5044
ISSN (Electronic)	2155-5052

Conference

Conference	15th IEEE International Symposium on Broadband Multimedia Systems and Broadcasting, BMSB 2020
Country/Territory	France
City	Paris
Period	10/27/20 → 10/29/20

Keywords

Calibration
Color Camera
Data Fusion
LiDAR
Point Cloud

ASJC Scopus subject areas

Computer Graphics and Computer-Aided Design
Computer Networks and Communications
Computer Science Applications
Human-Computer Interaction
Electrical and Electronic Engineering
Media Technology
Communication

Access to Document

10.1109/BMSB49480.2020.9379430

Cite this

Ding, Y., Liu, J., Ye, J., Xiang, W., Wu, H. C., & Busch, C. (2020). 3D LiDAR and color camera data fusion. In 15th IEEE International Symposium on Broadband Multimedia Systems and Broadcasting, BMSB 2020 [9379430] (IEEE International Symposium on Broadband Multimedia Systems and Broadcasting, BMSB; Vol. 2020-October). IEEE Computer Society. https://doi.org/10.1109/BMSB49480.2020.9379430

3D LiDAR and color camera data fusion. / Ding, Yuqi; Liu, Jiaming; Ye, Jinwei et al.
15th IEEE International Symposium on Broadband Multimedia Systems and Broadcasting, BMSB 2020. IEEE Computer Society, 2020. 9379430 (IEEE International Symposium on Broadband Multimedia Systems and Broadcasting, BMSB; Vol. 2020-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ding, Y, Liu, J, Ye, J, Xiang, W, Wu, HC & Busch, C 2020, 3D LiDAR and color camera data fusion. in 15th IEEE International Symposium on Broadband Multimedia Systems and Broadcasting, BMSB 2020., 9379430, IEEE International Symposium on Broadband Multimedia Systems and Broadcasting, BMSB, vol. 2020-October, IEEE Computer Society, 15th IEEE International Symposium on Broadband Multimedia Systems and Broadcasting, BMSB 2020, Paris, France, 10/27/20. https://doi.org/10.1109/BMSB49480.2020.9379430

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abstract = "3D LiDAR sensor and 2D color camera provide complementary information of a scene. It is essential to fuse both types of data to obtain a holistic representation of the real-world scene. In this paper, we present a method to fuse the data captured by rigidly mounted LiDAR and camera. We first cocalibrate the LiDAR and camera with a calibration target. We then establish 3D-2D correspondences and fuse the LiDAR and camera data through geometric transformations. Experimental results demonstrate that our method is able to fuse the 3D LiDAR point cloud with the 2D color image efficiently and accurately. Our method is also fast and can be used in autonomous driving applications. ",

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AU - Busch, Costas

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N2 - 3D LiDAR sensor and 2D color camera provide complementary information of a scene. It is essential to fuse both types of data to obtain a holistic representation of the real-world scene. In this paper, we present a method to fuse the data captured by rigidly mounted LiDAR and camera. We first cocalibrate the LiDAR and camera with a calibration target. We then establish 3D-2D correspondences and fuse the LiDAR and camera data through geometric transformations. Experimental results demonstrate that our method is able to fuse the 3D LiDAR point cloud with the 2D color image efficiently and accurately. Our method is also fast and can be used in autonomous driving applications.

AB - 3D LiDAR sensor and 2D color camera provide complementary information of a scene. It is essential to fuse both types of data to obtain a holistic representation of the real-world scene. In this paper, we present a method to fuse the data captured by rigidly mounted LiDAR and camera. We first cocalibrate the LiDAR and camera with a calibration target. We then establish 3D-2D correspondences and fuse the LiDAR and camera data through geometric transformations. Experimental results demonstrate that our method is able to fuse the 3D LiDAR point cloud with the 2D color image efficiently and accurately. Our method is also fast and can be used in autonomous driving applications.

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3D LiDAR and color camera data fusion

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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