LCE-Calib: Automatic LiDAR-Frame/Event Camera Extrinsic Calibration With a Globally Optimal Solution

The combination of light detection and rangings (LiDARs) cameras enables a mobile robot to perceive environments with multimodal data, becoming key factor in achieving robust perception. Traditional frame are sensitive changing illumination conditions, motivating us introduce novel event make LiDAR-camera fusion more complete robust. However, jointly exploit these sensors, the challenging extrinsic calibration problem should be addressed. This article proposes an automatic checkerboard-based approach calibrate extrinsics between LiDAR frame/event camera, where following four contributions presented: 1) we present feature extraction checkerboard tracking method from LiDAR's point clouds; 2) reconstruct realistic images streams, applying traditional corner detectors cameras; 3) propose initialization-refinement procedure estimate using point-to-plane point-to-line constraints coarse-to-fine manner; 4) unified globally optimal solution address two optimization problems calibration. Our has been validated extensive experiments on 19 simulated real-world datasets outperforms state-of-the-art.