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The velo2cam_calibration software implements a state-of-the-art automatic calibration algorithm for pair of sensors composed of LiDAR and camera devices in any possible combination, as described in this paper:

Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups
Jorge Beltrán, Carlos Guindel, Arturo de la Escalera, Fernando García
IEEE Transactions on Intelligent Transportation Systems, 2022
[Paper] [Preprint]

real results

Setup

This software is provided as a ROS package. To install:

  1. Clone the repository into your catkin_ws/src/ folder.
  2. Install run dependencies: sudo apt-get install ros-<distro>-opencv-apps
  3. Build your workspace as usual.

Usage

See HOWTO.md for detailed instructions on how to use this software.

To test the algorithm in a virtual environment, you can launch any of the calibration scenarios included in our Gazebo validation suite.

Calibration target

The following picture shows a possible embodiment of the proposed calibration target used by this algorithm and its corresponding dimensional drawing.

calibration target

Note: Other size may be used for convenience. If so, please configure node parameters accordingly.

Citation

If you use this work in your research, please consider citing the following paper:

@article{beltran2022,  
  author={Beltrán, Jorge and Guindel, Carlos and de la Escalera, Arturo and García, Fernando},  
  journal={IEEE Transactions on Intelligent Transportation Systems},   
  title={Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups},   
  year={2022}, 
  doi={10.1109/TITS.2022.3155228}
}

A previous version of this tool is available here and was described on this paper.