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作者丨Tom Hardy@知乎
來源丨https://zhuanlan.zhihu.com/p/268908000
編輯丨3D視覺工坊
本文匯總了常見的一些單傳感器、多傳感器的標定融合paper、工程代碼，應用於自動駕駛、3D視覺、SLAM等領域，供大家學習參考~
1、相機標定
Online Calibration of Exterior Orientations of a Vehicle-Mounted Surround-View Camera System
Calibration of fisheye camera using entrance pupil（魚眼相機）
一些開源代碼：
https://github.com/VLOGroup/dvs-calibration；
https://github.com/gorchard/DVScalibration。
2、單相機在線標定
1、A New Technique of Camera Calibration: A Geometric Approach Based on Principal Lines。
下載：https://arxiv.org/abs/1908.06539v1
2、Traffic Surveillance Camera Calibration by 3D Model Bounding Box Alignment for Accurate Vehicle Speed Measurement
下載：https://arxiv.org/abs/1702.06451v2
3、Autocamera Calibration for traffic surveillance cameras with wide angle lenses
下載：https://arxiv.org/abs/2001.07243v1
3、多相機標定
1、Calibration of Asynchronous Camera Networks: CALICO
下載：https://arxiv.org/abs/1903.06811v2
2、Infrastructure-based Multi-Camera Calibration using Radial Projections
3、 Infrastructure-Based Calibration of a Multi-Camera Rig
4、Leveraging Image-based Localization for Infrastructure-based Calibration of a Multi-camera Rig
4、相機雷達標定
1)Unified Intrinsic and Extrinsic Camera and LiDAR Calibration under Uncertainties（ICRA2020）
2)Analytic Plane Covariances Construction for Precise Planarity-Based Extrinsic Calibration of Camera and LiDAR（ICRA2020）
3)A Novel Calibration Method between a Camera and a 3D LiDAR with Infrared Images（ICRA2020）
4)Online Camera-LiDAR Calibration with Sensor Semantic Information（ICRA2020）
5)Automatic extrinsic calibration between a camera and a 3D Lidar using 3D point and plane correspondences
6)A Novel Method for the Extrinsic Calibration of a 2D Laser Rangefinder and a Camera
下載：https://arxiv.org/abs/1603.04132v4
7)LiDAR and Camera Calibration using Motion Estimated by Sensor Fusion Odometry
下載：https://arxiv.org/abs/1804.05178v1
8)Improvements to Target-Based 3D LiDAR to Camera Calibration
下載：https://arxiv.org/abs/1910.03126v2
9)Targetless Rotational Auto-Calibration of Radar and Camera for Intelligent Transportation Systems
下載：https://arxiv.org/abs/1904.08743v2
10)Semantic sensor fusion: from camera to sparse lidar information
下載：https://arxiv.org/abs/2003.01871v1
11)Automatic online calibration of cameras and lasers
12)Radar and vision sensors calibration for outdoor 3D reconstruction
13)A novel method of spatial calibration for camera and 2D radar based on registration
一些項目代碼：
https://github.com/ankitdhall/lidar_camera_calibration;
https://github.com/robofit/but_velodyne/tree/master/but_calibration_camera_velodyne.
5、事件相機和Lidar標定
Calibration of Event-based Camera and 3D LiDAR
6、Lidar和雙目相機標定融合
Intersection Safety using Lidar and Stereo sensors
https://zhuanlan.zhihu.com/p/147051259
7、激光雷達、Camera、毫米波雷達融合
1)Multiple Sensor Fusion and Classification for Moving Object Detection and Tracking.
2)An Extrinsic Calibration Tool for Radar, Camera and Lidar
3)Extrinsic 6DoF Calibration of 3D LiDAR and Radar
4)Extrinsic 6DoF Calibration of a Radar – LiDAR – Camera System Enhanced by Radar Cross Section Estimates Evaluation
8、IMU標定與融合
IMU內參標定：
https://github.com/Kyle-ak/imu_tk;
http://www.olliw.eu/2013/imu-data-fusing/;
9、Lidar-IMU標定
https://github.com/ethz-asl/lidar_align
10、Camera-IMU標定
https://github.com/ethz-asl/kalibr/wiki/calibrating-the-vi-sensor;
https://github.com/ethz-asl/kalibr;
11、2D Lidar標定
Extrinsic Calibration of an Eye-In-Hand 2D LiDAR Sensor in Unstructured Environments Using ICP
12、手眼標定
13、其它
1)AC/DCC : Accurate Calibration of Dynamic Camera Clusters for Visual SLAM
2)A Stable Adaptive Observer for Hard-Iron and Soft-Iron Bias Calibration and Compensation for Two-Axis Magnetometers: Theory and Experimental Evaluation
3)Precise 3D Calibration of Wafer Handling Robot by Visual Detection and Tracking of Elliptic-Shape Wafers
4)Globally Optimal Relative Pose Estimation for Camera on a Selfie Stick
5)Learning Camera Miscalibration Detection
6)Multiple Sensor Fusion and Classification for Moving Object Detection and Tracking
14、優秀博客
多傳感器標定數據融合:
https://blog.csdn.net/qq_17256689/article/details/100037699?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromBaidu-2&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromBaidu-2
15、源碼
https://github.com/tudelft-iv/multi_sensor_calibration
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