A Novel Extrinsic Calibration Method of a Camera-And-LiDAR System

Abstract

This paper is concerned with a novel extrinsic calibration method consisting of a camera and a LiDAR. A proposed planer calibrator is designed for highly effective calibration together with a feature detection algorithm for extracting the landmark features on the planer calibrator, which are adopted to derive the projection matrix equation between the camera and the LiDAR coordinate systems. The calibration result is further optimized via the cross-correlation equation among the planar calibrator poses in the sensor data frames. Compared to the state-of-the-art extrinsic calibration approaches between a camera and a LiDAR, the proposed approach achieves competitive calibration accuracy and robustness.