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Targetless Extrinsic Calibration of Camera and Low-resolution 3D LiDAR
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  • Ni Ou ,
  • Yuhang Cai ,
  • Jiawen Yang ,
  • Junzheng Wang
Yuhang Cai
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Jiawen Yang
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Junzheng Wang
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Abstract

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 degree and 3cm respectively. We also open source our codes at github (See Section III-D).
15 May 2023Published in IEEE Sensors Journal volume 23 issue 10 on pages 10889-10899. 10.1109/JSEN.2023.3263833