Online calibration of LiDAR-camera extrinsic parameters of tunnel mapping system with depth-constrained vibration compensation
Tunnel mapping systems are essential for tunnel inspection, integrating sensors like LiDAR, cameras, and odometers to enhance data accuracy. However, calibration is challenging due to mechanical constraints and repetitive sensor installations, especially for LiDAR-Camera alignment. Existing methods...
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| Format: | Article |
| Language: | English |
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Elsevier
2025-05-01
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| Series: | International Journal of Applied Earth Observations and Geoinformation |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S1569843225002031 |
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| author | Han Hu Ying Jiang Zeyuan Dai Rui Hao Wenna Fan Lihua Zhang Xuming Ge Bo Xu Qing Zhu |
| author_facet | Han Hu Ying Jiang Zeyuan Dai Rui Hao Wenna Fan Lihua Zhang Xuming Ge Bo Xu Qing Zhu |
| author_sort | Han Hu |
| collection | DOAJ |
| description | Tunnel mapping systems are essential for tunnel inspection, integrating sensors like LiDAR, cameras, and odometers to enhance data accuracy. However, calibration is challenging due to mechanical constraints and repetitive sensor installations, especially for LiDAR-Camera alignment. Existing methods struggle in tunnels with poor lighting and low texture, and they fail to address irregular vibrations from the flashing light system, causing instability. We propose a robust online calibration technique for LiDAR-Camera extrinsic parameters. By establishing a reversible mapping through surface parameterization, our approach ensures accurate cross-modality alignment. Additionally, we use depth constraints to stabilize adjacent camera stations, which are typically short-edge connections and prone to instability in photogrammetric bundle adjustment. This effectively mitigates irregular vibration effects. Validation in real-world tunnels confirms persistent vibration issues despite mechanical reinforcement. Our algorithm achieves precise point cloud and image alignment, reducing back-projection errors by over 50% and significantly improving data fusion accuracy in challenging conditions. |
| format | Article |
| id | doaj-art-021f613f8ed946de8af6bf4b55ad2603 |
| institution | OA Journals |
| issn | 1569-8432 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | Elsevier |
| record_format | Article |
| series | International Journal of Applied Earth Observations and Geoinformation |
| spelling | doaj-art-021f613f8ed946de8af6bf4b55ad26032025-08-20T01:49:27ZengElsevierInternational Journal of Applied Earth Observations and Geoinformation1569-84322025-05-0113910455610.1016/j.jag.2025.104556Online calibration of LiDAR-camera extrinsic parameters of tunnel mapping system with depth-constrained vibration compensationHan Hu0Ying Jiang1Zeyuan Dai2Rui Hao3Wenna Fan4Lihua Zhang5Xuming Ge6Bo Xu7Qing Zhu8Faculty of Geosciences and Engineering, Southwest Jiaotong University, Chengdu, 611756, ChinaFaculty of Geosciences and Engineering, Southwest Jiaotong University, Chengdu, 611756, ChinaDepartment of Military Oceanography and Hydrography & Cartography, Dalian Naval Academy, Dalian, 116018, ChinaInstitute of computing Technology, China Academy of Railway Sciences Corporation Limited, Beijing, 100081, ChinaInstitute of computing Technology, China Academy of Railway Sciences Corporation Limited, Beijing, 100081, ChinaKey Laboratory of Hydrographic Surveying and Mapping of PLA, Dalian Naval Academy, Dalian, 116018, ChinaFaculty of Geosciences and Engineering, Southwest Jiaotong University, Chengdu, 611756, ChinaFaculty of Geosciences and Engineering, Southwest Jiaotong University, Chengdu, 611756, China; Corresponding author.Faculty of Geosciences and Engineering, Southwest Jiaotong University, Chengdu, 611756, ChinaTunnel mapping systems are essential for tunnel inspection, integrating sensors like LiDAR, cameras, and odometers to enhance data accuracy. However, calibration is challenging due to mechanical constraints and repetitive sensor installations, especially for LiDAR-Camera alignment. Existing methods struggle in tunnels with poor lighting and low texture, and they fail to address irregular vibrations from the flashing light system, causing instability. We propose a robust online calibration technique for LiDAR-Camera extrinsic parameters. By establishing a reversible mapping through surface parameterization, our approach ensures accurate cross-modality alignment. Additionally, we use depth constraints to stabilize adjacent camera stations, which are typically short-edge connections and prone to instability in photogrammetric bundle adjustment. This effectively mitigates irregular vibration effects. Validation in real-world tunnels confirms persistent vibration issues despite mechanical reinforcement. Our algorithm achieves precise point cloud and image alignment, reducing back-projection errors by over 50% and significantly improving data fusion accuracy in challenging conditions.http://www.sciencedirect.com/science/article/pii/S1569843225002031Tunnel mapping systemLiDAR-camera calibrationOnline calibrationCross-modality matchingIrregular vibrationsSurface parameterization |
| spellingShingle | Han Hu Ying Jiang Zeyuan Dai Rui Hao Wenna Fan Lihua Zhang Xuming Ge Bo Xu Qing Zhu Online calibration of LiDAR-camera extrinsic parameters of tunnel mapping system with depth-constrained vibration compensation International Journal of Applied Earth Observations and Geoinformation Tunnel mapping system LiDAR-camera calibration Online calibration Cross-modality matching Irregular vibrations Surface parameterization |
| title | Online calibration of LiDAR-camera extrinsic parameters of tunnel mapping system with depth-constrained vibration compensation |
| title_full | Online calibration of LiDAR-camera extrinsic parameters of tunnel mapping system with depth-constrained vibration compensation |
| title_fullStr | Online calibration of LiDAR-camera extrinsic parameters of tunnel mapping system with depth-constrained vibration compensation |
| title_full_unstemmed | Online calibration of LiDAR-camera extrinsic parameters of tunnel mapping system with depth-constrained vibration compensation |
| title_short | Online calibration of LiDAR-camera extrinsic parameters of tunnel mapping system with depth-constrained vibration compensation |
| title_sort | online calibration of lidar camera extrinsic parameters of tunnel mapping system with depth constrained vibration compensation |
| topic | Tunnel mapping system LiDAR-camera calibration Online calibration Cross-modality matching Irregular vibrations Surface parameterization |
| url | http://www.sciencedirect.com/science/article/pii/S1569843225002031 |
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