A method of spatial calibration for camera and radar

Abstract

The technique of multi-sensor fusion has already been used widely in intelligent vehicle environment perception. The spatial calibration of the radar and camera is the basis for road detection with information fusion real-timely. So, a method of spatial calibration of radar and the camera has been proposed to implement the spatial calibration of the two sensors. The non-linear distortion of the camera is considered in the paper. Coordinate transformation between the coordinates relevant to the radar and camera is introduced as the constraints. After transforming the feature between the related coordinates of image and the relative coordinates of radar, the calibration parameters are determined with the least square error function. Experiment results indicate that this method is simple and easy to realize, which has the high accuracy that satisfy requirement of the system.