An Extrinsic Sensor Calibration Framework for Sensor-fusion based Autonomous Vehicle Perception

International audienceIn this paper we deal with sensor alignment problems that appear when implementing sensor fusion-based autonomous vehicle perception. We focus on extrinsic calibration of vision-based and line scan LIDAR sensors. Based on state-of-art solutions, a consistent calibration toolchain is developed, with improvements (accuracy and calibration duration). Additionally, sensor alignment/calibration impact on fusion-based perception is investigated. Experimental results are provided for illustration, using real-world data