Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups

Most sensor setups for onboard autonomous perception are composed of LiDARs and vision systems, as they provide complementary information that improves the reliability different algorithms necessary to obtain a robust scene understanding. However, effective use from sources requires an accurate calibration between sensors involved, which usually implies tedious burdensome process. We present method calibrate extrinsic parameters any pair involving LiDARs, monocular or stereo cameras, same modalities. The procedure is two stages: first, reference points belonging custom target extracted data provided by be calibrated, second, optimal rigid transformation found through registration both point sets. proposed approach can handle devices with very resolutions poses, in vehicle setups. In order assess performance method, novel evaluation suite built on top popular simulation framework introduced. Experiments synthetic environment show our algorithm significantly outperforms existing methods, whereas real tests corroborate results obtained suite. Open-source code available at https://github.com/beltransen/velo2cam_calibration