Review of a 3D lidar combined with single vision calibration

In the multi-sensor information fusion technology, cameras and 3D lidars have been rapidly developed and widely used on the premise that their characteristics are highly complementary. In many applications based on cameras and 3D lidars, camera internal parameters as well as the joint calibration of camera and 3D lidar external parameters is an important foundation for later detection, tracking, and SLAM mapping technology. With the update and iteration of the algorithm, the accuracy, speed, and scope of calibration have been improved, but there still lack of the systematic and comprehensive review of camera and 3D lidar calibration. This article first introduces the performance comparison and application status of the two sensors; secondly, it introduces the calibration process, calibration target selection and calibration model establishment; then according to the classification, it introduces the principles and algorithms of camera internal parameter calibration and joint external parameter calibration; finally, it summarizes and gives the future development of camera and 3D lidar calibration.