解决漫射LiDAR与相机的像素级空间对齐问题，实现跨模态融合。
Spatial Calibration of Diffuse LiDARs
- 通过扫描反光贴片并减去背景，估计每个LiDAR像素的感知区域和灵敏度。
- 在ams OSRAM TMF8828上验证，成功建立像素级的LiDAR到RGB对应关系。
- 方法简单有效，适用于需要精确对齐的多模态感知系统。
漫射直接飞行时间LiDAR通过汇聚大瞬时视场内的光子返回，生成每像素的深度直方图，违背了标准LiDAR-RGB标定中的单射线假设。本文提出一种简单的空间标定方法，估计每个漫射LiDAR像素的足迹（有效作用区域）及其在共视RGB图像平面中的相对空间灵敏度。利用扫描的反光贴片并结合背景减除，恢复出每个像素的响应图，为跨模态对齐与融合提供显式的LiDAR到RGB映射。我们在ams OSRAM TMF8828传感器上验证了该方法的有效性。
原文摘要 · Abstract (English)
Diffuse direct time-of-flight LiDARs report per-pixel depth histograms formed by aggregating photon returns over a wide instantaneous field of view, violating the single-ray assumption behind standard LiDAR-RGB calibration. We present a simple spatial calibration procedure that estimates, for each diffuse LiDAR pixel, its footprint (effective support region) and relative spatial sensitivity in a co-located RGB image plane. Using a scanned retroreflective patch with background subtraction, we recover per-pixel response maps that provide an explicit LiDAR-to-RGB correspondence for cross-modal alignment and fusion. We demonstrate the method on the ams OSRAM TMF8828.
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