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MaverickProjectLidar2Image

Author: Yujia Zhang

Main page of our dataset: YUTO MMS

Main page of our group: AUSM Lab

Paper

Zhang Y, Ahmadi S, Kang J, Arjmandi Z, Sohn G. YUTO MMS: A comprehensive SLAM dataset for urban mobile mapping with tilted LiDAR and panoramic camera integration. The International Journal of Robotics Research. 2024;0(0). doi:10.1177/02783649241261079

@article{doi:10.1177/02783649241261079,
author = {Yiujia Zhang and SeyedMostafa Ahmadi and Jungwon Kang and Zahra Arjmandi and Gunho Sohn},
title ={YUTO MMS: A comprehensive SLAM dataset for urban mobile mapping with tilted LiDAR and panoramic camera integration},
journal = {The International Journal of Robotics Research},
volume = {0},
number = {0},
pages = {02783649241261079},
year = {0},
doi = {10.1177/02783649241261079},
URL = {https://doi.org/10.1177/02783649241261079},
eprint = {https://doi.org/10.1177/02783649241261079}
}

Main description

This is a Matlab script that projects the lidar 3d point cloud onto the panoramic image for the Maverick Mobile Mapping System. The calibration estimates the intrinsics of the ladybug camera, the boresight and level-arm parameters between lidar and ladybug camera.

Example

Run "maverick_project_3D_pointcloud_to_images.m" after downloading the YUTO MMS dataset.

Output: the panoramic image mapped with lidar 3d point cloud, the colors represent the depth range.