An Interactive LiDAR to Camera Calibration

Recent progress in the automated driving system and advanced driver assistant system has shown that the combined use of 3D light detection and ranging (LiDAR) and the camera is essential for an intelligent vehicle to perceive the driving scenarios. LiDAR-camera fusion systems require precise intrinsic and extrinsic transformation between sensors. However, due to the limitation of the calibration equipment and susceptibility to noise, algorithms in existing methods tend to fail in finding LiDAR-camera correspondences in long-range terms. In this paper, we introduced an interactive LiDAR to camera calibration toolbox that estimates the intrinsic and extrinsic transform parameters. This toolbox automatically detects the corner of a planer board from a sequence of LiDAR frames and provides a convenient user interface to annotate the corresponding pixels on camera frames. Since the toolbox only detects the top corner of the board, there is no need to prepare a precise polygon planar board or a checkerboard with different reflectivity areas as in the existing methods. Furthermore, the toolbox uses genetic algorithms to estimate the transforms and supports multiple camera models such as the pinhole camera model and the fisheye camera model. Experiments using Velodyne VLP-16 LiDAR and Point Grey Chameleon 3 camera show robust results.