Map-based registration of multi-LiDAR infrastructure sensor setups for real-time applications

Journal of Physics Conference Series, vol. 2330, pp. 012017

Abstract

Abstract The use of infrastructure sensors has proven to be an effective method for recording large traffic datasets. In order to achieve a high data quality for such datasets, an accurate extrinsic calibration of the sensors is essential. While previous approaches are not fast enough or do not fit the use-case of infrastructure sensing, we present a method that is capable of registering LiDAR sensors to a digital map in real-time. We use a mobile infrastructure sensor setup consisting of two measurement units, which we position at different locations with real road traffic. Each measurement unit is equipped with two LiDARs at a mounting height of eight meters. Experiments have shown that our method can perform continuous registration of up to four 128-layer LiDARs. With a voxel size of 0.05 meters used, our method achieves a root-mean-square error (RMSE) of 0.13 meters at an average processing time of 0.05 seconds per frame.

Authors 4

1. Amarin Kloeker corresponding Aachen Institute for Automotive Engineering

   RWTH Aachen University

   Affiliation as printed

   Institute for Automotive Engineering, RWTH Aachen University, 52074 Aachen, Germany

2. Laurent Kloeker corresponding Aachen Institute for Automotive Engineering

   RWTH Aachen University

   Affiliation as printed

   Institute for Automotive Engineering, RWTH Aachen University, 52074 Aachen, Germany

3. Tim Baumanns Aachen Institute for Automotive Engineering

   RWTH Aachen University

   Affiliation as printed

   Institute for Automotive Engineering, RWTH Aachen University, 52074 Aachen, Germany

4. Lutz Eckstein Aachen Institute for Automotive Engineering

   RWTH Aachen University

   Affiliation as printed

   Institute for Automotive Engineering, RWTH Aachen University, 52074 Aachen, Germany