Camera intrinsic calibration
In order to achieve cross-modality data alignment between the LiDAR and the cameras, the exposure on each camera was triggered when the top LiDAR sweeps across the center of the camera’s FOV. This method was selected as it generally yields good data alignment. Note that the cameras run at 12Hz while the LiDAR runs at 20Hz.
The 12 camera exposures are spread as evenly as possible across the 20 LiDAR scans, so not all LiDAR scans have a correspondingcamera frame.
Reducing the frame rate of the cameras to 12Hz helps to reduce the compute, bandwidth and storage requirement of the perception system.
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