3D LiDAR and Color Camera Data Fusion

3D LiDAR sensor and 2D color camera provide complementary information of a scene. It is essential to fuse both types of data to obtain a holistic representation of the real-world scene. In this paper, we present a method to fuse the data captured by rigidly mounted LiDAR and camera. We first cocalibrate the LiDAR and camera with a calibration target. We then establish 3D-2D correspondences and fuse the LiDAR and camera data through geometric transformations. Experimental results demonstrate that our method is able to fuse the 3D LiDAR point cloud with the 2D color image efficiently and accurately. Our method is also fast and can be used in autonomous driving applications.