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

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 https://github.com/gitouni/Targetless-LiDAR-camera-calibration.

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