A Collection of LiDAR-Camera-Calibration Papers, Toolboxes and Notes.

Outline

• Introduction
• Target-based methods
• Targetless methods
  • Motion-based methods
  • Scene-based-methods
    • Traditional Methods
    • Deep-learning Methods
• Other Toolboxes

For applications such as autonomous driving, robotics, navigation systems, and 3-D scene reconstruction, data of the same scene is often captured using both lidar and camera sensors. To accurately interpret the objects in a scene, it is necessary to fuse the lidar and the camera outputs together. Lidar camera calibration estimates a rigid transformation matrix (extrinsics, rotation+translation, 6 DoF) that establishes the correspondences between the points in the 3-D lidar plane and the pixels in the image plane.

C: camera, L: LiDAR, a: automaic, m: manual