Research on calibration method of extrinsic parameters of lidar and camera carried by UAV

The colorful image of the camera and the point cloud of the lidar can provide rich information about the surrounding environment.With the widespread application of UAV in various industries, loading lidars and cameras on UAV can effectively help UAV realize functions such as identification, mapping, and navigation in unfamiliar environments. Aiming at the current research hotspot, this paper combines hand-eye calibration with edge calibration. The former provides the calibration initial value for the latter, and the latter optimizes the results of the former. Finally, a high-precision automatic calibration system without artificial initial value is realized. In addition, this paper proposes a Gauss-Helmert model with scale estimation and outlier removal to solve hand-eye calibration. Experiments show that the method has higher accuracy and better robustness.