Improving the intrinsic calibration of a Velodyne LiDAR sensor

LiDAR (Light detection and ranging) sensors are widely used in research and development. As such, they build the base for the evaluation of newly developed ADAS (Advanced Driver Assistance Systems) functions in the automotive field where they are used for ground truth establishment. However, the factory calibration provided for the sensors is not able to satisfy the high accuracy requirements by such applications. In this paper we propose a concept to easily improve the existing calibration of a Velodyne LiDAR sensor without the need for special calibration setups which can even be used to enhance already recorded data.