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<!-- PROJECT LOGO --> <p align="center"> <h2 align="center">LCE-Calib: Automatic LiDAR-Frame/Event Camera Extrinsic Calibration With A Globally Optimal Solution</h2> <p align="center"> <a href="https://https://gogojjh.github.io"><strong>Jianhao Jiao*</strong></a> · <a><strong>Feiyi Chen*</strong></a> · <a><strong>Hexiang Wei</strong></a> · <a href="https://zarathustr.github.io/"><strong>Jin Wu</strong></a> · <a href="https://facultyprofiles.hkust.edu.hk/profiles.php?profile=ming-liu-eelium"><strong>Ming Liu</strong></a> · <a><strong>(* Equal Contribution)</strong></a> </p> <h4 align="center">Under Review</h4> <div align="center"></div>Installation
First you have to install the MATLAB (our code has been tested with MATLAB R2019b, but the code of running the baseline method should be tested with >= MATLAB R2021b).
- You need to download the preliminary QPEP (LCECalib wrapper)
git clone https://github.com/HKUSTGZ-IADC/LibQPEP-LCECalib
- (Optional) You need to download the preliminary E2VID for image reconstruction from events if needed. I recommend you to use the code in docker.
git clone https://github.com/HKUSTGZ-IADC/E2Calib-LCECalib
- Download the repository of LCECalib
git clone https://github.com/HKUSTGZ-IADC/LCECalib
Dataset Preparation
We provide data used in our paper here: xxxx. Please download and store them according to below folder structure
- simu_data_bias/
- simu_data_1 - simu_data_10: simulated data at the noise levels from 1-10
- real_data/
- real_data_1 - real_data_3: RLFS01 - RLFS03
- real_data_4 - real_data_9: RLES01-LF, RLES01-LE, RLES02-LF, RLES02-LE, RLES03-LF, RLES03-LE
Run
Calibration on data presented in our paper
- Please set correct
data_typeanddata_optioninrun_lcecalib_qpep.m - Please set the flag
save_result_flagandplot_result_flaginrun_lcecalib_qpep.m - Run
run_lcecalib_qpep.m- if
plot_result_flag=1, the code will show simiar results to Fig.8, FIg.10, and Fig.12 in our paper. - if
save_result_flag=1, results provided by inner modules of LCECalib will be stored for analysis.
- if
Calibration on self-collected data
- Please set correct
data_typeanddata_optioninrun_lcecalib_qpep_other_data.m - Please set the flag
save_result_flagandplot_result_flaginrun_lcecalib_qpep_other_data.m - Run
run_lcecalib_qpep_other_data.m
Calibration using the baseline method
We provide the code of running the baseline method, which is based on the MATLAB implementation.
- Please set correct
all_data_typeanddata_optioninrun_baseline_zhou.m - Run
run_baseline_zhou.m
Demo
Calibration device
<img src="media/calibraton_device.png" width="700" />Reconstructed images from events
<p float="left"> <img src="media/rles01-le.gif" width="250" /> <img src="media/rles02-le.gif" width="250" /> <img src="media/rles03-le.gif" width="250" /> </p>Projecting points onto images with calibrated extrinsics
<p float="left"> <img src="media/calibration_result_rlfs.png" width="750" /> <br> <br> <img src="media/calibration_result_rles.png" width="500" /> <img src="media/calibration_result_alignment.png" width="250" /> <center>VLP-16</center> </p> <p float="left"> <img src="media/calibration_result_fp_data_1.png" width="300" /> <img src="media/calibration_result_fp_data_2.png" width="300"/> <center>OS1-128</center> </p>Acknowledgement
The authors would like to thank members in HKUST Robotics Institute and Shenzhen Unity-Drive innoviation for the help and suggestions in algorithm development.
Citation
If you find our code or paper useful, please cite
Contact
Contact Jianhao Jiao for questions, comments and reporting bugs.