A spatiotemporal registration method between roadside lidar and camera

Abstract

With the rapid development of intelligent transportation, it is of great significance to improve road traffic safety and traffic efficiency by tracking road users in real time. In this paper, a roadside multi-source data acquisition platform is designed based on two main sensors, lidar and camera, to perform time synchronization between lidar data and camera data. The point cloud data and image data of the same frame are the research objects. Based on Zhang Zhengyou’s calibration method and the plane target model theory, the camera internal parameters and the joint external parameters of the lidar and camera are respectively calibrated to obtain the internal and external parameter matrix. The error is 0.09 pixels, and the external parameter calibration error is 0.22 pixels. The registration test of lidar and camera under different roadside layout conditions is designed to verify the adaptability of the registration method. When the camera is arranged and installed, the distance between the horizontal and vertical directions should not exceed 90 cm.