MARSCalib: Multi-robot, Automatic, Robust, Spherical Target-based Extrinsic Calibration in Field and Extraterrestrial Environments

摘要

This paper presents a novel spherical target-based LiDAR-camera extrinsic calibration method designed for outdoor environments with multi-robot systems, considering both target and sensor corruption. The method extracts the 2D ellipse center from the image and the 3D sphere center from the pointcloud, which are then paired to compute the transformation matrix. Specifically, the image is first decomposed using the Segment Anything Model (SAM). Then, a novel algorithm extracts an ellipse from a potentially corrupted sphere, and the extracted ellipse’s center is corrected for errors caused by the perspective projection model. For the LiDAR pointcloud, points on the sphere tend to be highly noisy due to the absence of flat regions. To accurately extract the sphere from these noisy measurements, we apply a hierarchical weighted sum to the accumulated pointcloud. Through experiments, we demonstrated that the sphere can be robustly detected even under both types of corruption, outperforming other targets. We evaluated our method using three different types of LiDARs (spinning, solid-state, and non-repetitive) with cameras positioned in three different locations. Furthermore, we validated the robustness of our method to target corruption by experimenting with spheres subjected to various types of degradation. These experiments were conducted in both a planetary test and a field environment. Our code is available at https://github.com/sparolab/MARSCalib.