SOIC: Semantic Online Initialization and Calibration for LiDAR and Camera

Understand

This paper presents a novel semantic-based online extrinsic calibration approach, SOIC (so, I see), for Light Detection and Ranging (LiDAR) and camera sensors.

• Previous online calibration methods usually need prior knowledge of rough initial values for optimization.
• The proposed approach removes this limitation by converting the initialization problem to a Perspective-n-Point (PnP) problem with the introduction of semantic centroids (SCs).
• The closed-form solution of this PnP problem has been well researched and can be found with existing PnP methods.