A Novel Framework for Image Matching and Stitching for Moving Car Inspection under Illumination Challenges.

Vehicle exterior inspection is a critical operation for identifying defects and ensuring the overall safety and integrity of vehicles. Visual-based inspection of moving objects, such as vehicles within dynamic environments abounding with reflections, presents significant challenges, especially when time and accuracy are of paramount importance. Conventional exterior inspections of vehicles require substantial labor, which is both costly and prone to errors.

An Effective Camera-to-Lidar Spatiotemporal Calibration Based on a Simple Calibration Target.

In this contribution, we present a simple and intuitive approach for estimating the exterior (geometrical) calibration of a Lidar instrument with respect to a camera as well as their synchronization shifting (temporal calibration) during data acquisition. For the geometrical calibration, the 3D rigid transformation of the camera system was estimated with respect to the Lidar frame on the basis of the establishment of 2D to 3D point correspondences. The 2D points were automatically extracted on images by exploiting an AprilTag fiducial marker, while the detection of the corresponding Lidar points was carried out by estimating the center of a custom-made retroreflective target.