Automatic calibration method between camera and lidar, and computer program recorded on record-medium to execute the same

A map generation device for performing calibration, the map generation device comprising:

• a memory;
• a transceiver;
• and
• a processor configured to execute instructions stored in the memory,
• wherein the processor is configured to:
• detect, with respect to a calibration board, a flat region corresponding to the calibration board from each of two or more point cloud data obtained by LiDAR;
• identify a region corresponding to the calibration board from each of two or more images captured by a camera at respective acquisition time points of the point cloud data;
• estimate an initial position of the calibration board in three-dimensional coordinates by matching the region corresponding to the calibration board with the flat region;
• register coordinates of the initial position of the calibration board with coordinates of the flat region;
• and
• determine a pose of the camera based on the registered coordinates;
• wherein estimating the initial position of the calibration board comprises:
• rotate the region corresponding to the calibration board in three-dimensional space by aligning the region corresponding to the calibration board with the flat region;
• calculate a center of gravity of the flat region by using a state in which the region corresponding to the calibration board is rotated to maximally overlap with the flat region;
• and
• estimate the initial position of the calibration board by using the calculated center of gravity;
• wherein registering the coordinates comprises:
• register the coordinates of the initial position of the calibration board with the coordinates of the flat region by using an Iterative Closest Point (ICP) algorithm;
• and
• register, selectively, four coordinates corresponding to corners of the calibration board with four coordinates corresponding to corners of the flat region among the coordinates of the initial position of the calibration board;
• wherein determining the pose of the camera comprises:
• calculating a rotation matrix and a translation matrix of the camera by using only the four registered coordinates.