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Targetless Extrinsic Calibration of Camera and Low-resolution 3D LiDAR

posted on 2023-04-14, 18:56 authored by Ni OuNi Ou, Yuhang Cai, Jiawen Yang, Junzheng Wang

This article provides a targetless extrinsic calibration method between camera and low-resolution 3D LiDAR. We carried out real-world experiments on a multi-sensor platform containing a Velodyne VLP-16 LiDAR and a camera. Ground-truth extrinsic matrix is generated by a state-of-the-art target-based method. Regarding the calibration error, the rotation and translation RMSE of our method are 0.59° and 3cm respectively. Codes are avaible at

NB: This article has been accepted for publication in IEEE Sensors Journal.  Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Citation Information: 10.1109/JSEN.2023.3263833


National Key Research and Development Program of China under Grant 2019YFC1511401

Ensan Frontier Innovation Foundation under Grant 2022024

National Natural Science Foundation of China under Grant 62173038

National Natural Science Foundation of China under Grant 61103157


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ORCID of Submitting Author


Submitting Author's Institution

Beijing Institute of Technology

Submitting Author's Country

  • China

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