Method for spherical camera to 3D LiDAR calibration and synchronization with example on Insta360 X4 and LiVOX MID 360
This paper introduces a method for 360 camera with 3D LiDAR calibration and synchronization with example on Insta360 X4 and LiVOX MID 360. Both data streams (camera and LiDAR) are recorded separately to reach interoperability, robustness, full resolution, and maximal FPS (Frames Per Second). The nov...
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2025-06-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://isprs-archives.copernicus.org/articles/XLVIII-1-W4-2025/13/2025/isprs-archives-XLVIII-1-W4-2025-13-2025.pdf |
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| _version_ | 1850100780051202048 |
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| author | J. Bedkowski M. Pełka K. Majek M. Matecki |
| author_facet | J. Bedkowski M. Pełka K. Majek M. Matecki |
| author_sort | J. Bedkowski |
| collection | DOAJ |
| description | This paper introduces a method for 360 camera with 3D LiDAR calibration and synchronization with example on Insta360 X4 and LiVOX MID 360. Both data streams (camera and LiDAR) are recorded separately to reach interoperability, robustness, full resolution, and maximal FPS (Frames Per Second). The novelty is based on LED circle strip illuminating timestamp, thus this information is recorded by camera. The timestamp is presented using gray code utilizing individually addressed LED strips. The data signal for LED is prepared by micro-controller. Microcontroller (ESP-8285) communicates using USB. We incorporated ResNet-18 based binary classifier to classify LEDs. Our method can efficiently assign timestamps with a resolution of 100 ms. To fulfill the process of 3D point cloud colorization, we implemented camera to LiDAR calibration procedure requiring manually assigning 5 pairs of image to 3D point correspondences. Our method is independent from hardware, thus it can be used also for affordable one making it more accessible and easy to use. |
| format | Article |
| id | doaj-art-b6a699907c014092beb7f0ca4fc7f76b |
| institution | DOAJ |
| issn | 1682-1750 2194-9034 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj-art-b6a699907c014092beb7f0ca4fc7f76b2025-08-20T02:40:13ZengCopernicus PublicationsThe International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences1682-17502194-90342025-06-01XLVIII-1-W4-2025131910.5194/isprs-archives-XLVIII-1-W4-2025-13-2025Method for spherical camera to 3D LiDAR calibration and synchronization with example on Insta360 X4 and LiVOX MID 360J. Bedkowski0M. Pełka1K. Majek2M. Matecki3Institute of Fundamental Technological Research, Polish Academy of Science, ul. Pawińskiego 5B, 02–106, Warsaw, PolandRobotec.ai, Warsaw, PolandCufix, Grodzisk Mazowiecki, PolandInstitute of Fundamental Technological Research, Polish Academy of Science, ul. Pawińskiego 5B, 02–106, Warsaw, PolandThis paper introduces a method for 360 camera with 3D LiDAR calibration and synchronization with example on Insta360 X4 and LiVOX MID 360. Both data streams (camera and LiDAR) are recorded separately to reach interoperability, robustness, full resolution, and maximal FPS (Frames Per Second). The novelty is based on LED circle strip illuminating timestamp, thus this information is recorded by camera. The timestamp is presented using gray code utilizing individually addressed LED strips. The data signal for LED is prepared by micro-controller. Microcontroller (ESP-8285) communicates using USB. We incorporated ResNet-18 based binary classifier to classify LEDs. Our method can efficiently assign timestamps with a resolution of 100 ms. To fulfill the process of 3D point cloud colorization, we implemented camera to LiDAR calibration procedure requiring manually assigning 5 pairs of image to 3D point correspondences. Our method is independent from hardware, thus it can be used also for affordable one making it more accessible and easy to use.https://isprs-archives.copernicus.org/articles/XLVIII-1-W4-2025/13/2025/isprs-archives-XLVIII-1-W4-2025-13-2025.pdf |
| spellingShingle | J. Bedkowski M. Pełka K. Majek M. Matecki Method for spherical camera to 3D LiDAR calibration and synchronization with example on Insta360 X4 and LiVOX MID 360 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | Method for spherical camera to 3D LiDAR calibration and synchronization with example on Insta360 X4 and LiVOX MID 360 |
| title_full | Method for spherical camera to 3D LiDAR calibration and synchronization with example on Insta360 X4 and LiVOX MID 360 |
| title_fullStr | Method for spherical camera to 3D LiDAR calibration and synchronization with example on Insta360 X4 and LiVOX MID 360 |
| title_full_unstemmed | Method for spherical camera to 3D LiDAR calibration and synchronization with example on Insta360 X4 and LiVOX MID 360 |
| title_short | Method for spherical camera to 3D LiDAR calibration and synchronization with example on Insta360 X4 and LiVOX MID 360 |
| title_sort | method for spherical camera to 3d lidar calibration and synchronization with example on insta360 x4 and livox mid 360 |
| url | https://isprs-archives.copernicus.org/articles/XLVIII-1-W4-2025/13/2025/isprs-archives-XLVIII-1-W4-2025-13-2025.pdf |
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