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A lasers and cameras calibration procedure for VIAC multi-sensorized vehicles

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3 Author(s)
Mazzei, L. ; Dipt. di Ing. dell''Inf., Univ. degli Studi di Parma, Parma, Italy ; Medici, P. ; Panciroli, M.

This paper proposes an efficient calibration procedure designed for the vehicle prototypes involved in the VisLab Intercontinental Autonomous Challenge [1]. The perception system is based on laser rangefinders and cameras, for their complementary purpose. An high precision pose estimation must be carried out by a very precise calibration procedure, in order to convert information between different coordinate systems. A modular approach has been extensively tested during VIAC which has offered a unique chance to face pros and cons of different calibration procedures; data collected during the expedition has also become a reference benchmark for further improvements.

Published in:

Intelligent Vehicles Symposium (IV), 2012 IEEE

Date of Conference:

3-7 June 2012