Enhanced Low-Resolution LiDAR-Camera Calibration via Depth Interpolation and Supervised Contrastive Learning

Zhikang Zhang, Zifan Yu, Suya You, Raghuveer Rao, Sanjeev Agarwal, Fengbo Ren

Abstract: Motivated by the increasing application of low-resolution LiDAR, we target the problem of low-resolution LiDAR-camera calibration in this work. The main challenges are two-fold: sparsity and noise in point clouds. To address the problem, we propose to apply depth interpolation to increase the point density and supervised contrastive learning to learn noise-resistant features. The experiments on RELLIS-3D demonstrate that our approach achieves an average mean absolute rotation/translation errors of 0.15cm/0.33° on 32-channel LiDAR point cloud data, which significantly outperforms all reference methods.