Modular camera-lidar system used in live working safety monitoring tasks

A multi-sensor combination perception system and a common calibration scheme for the system are designed to ensure operator safety and to achieve the safe monitoring task of live work technology. Taking into account the work site environment, this paper analyses and compares the requirements for safe distance monitoring and finds that using a camera-lidar combination can provide more stable on-site perception data. In addition, this paper designs a set of schemes for multi-camera calibration and camera-lidar joint calibration for this perception system. Finally, the backward projection scheme is used to verify the accuracy of the overall sensor calibration system.