Patent ID: 10859684

Abstract:
A system and method for performing camera-LIDAR calibration based on a checkerboard placed in proximity to a vehicle, the method includes: receiving a 3D point cloud and a 2D image including the checkerboard; filtering the 3D point cloud representing the checkerboard; converting the filtered 3D point cloud to a 2D point cloud in a translated coordinate system; estimating a 2D position, in the translated coordinate system, for each outer corner of the checkerboard represented by the 2D point cloud; estimating a 2D position in the translated coordinate system for each inner corner of the checkerboard represented by the 2D point cloud; determining a 3D position, in a LIDAR coordinate system, for each corner of the checkerboard in the 3D point cloud based on the corresponding 2D position in the translated coordinate system; and determining a 2D position of each corner of the checkerboard in a 2D image coordinate system.