Data Collection for Lidar-Camera Calibration (Targetless)

Data collection

• For the targetless calibration, users must record a scene in the camera and the LiDAR sensor.

• No target is required for this calibration, but the scene should have vehicles (cars and vans) in the camera and the LiDAR data.

• For better calibration, vehicles should be close to the LiDAR (10m - 50m) with a good number of points in LiDAR and present on both the left and right sides of the image; Having too many vehicles may result in calibration errors.

• Ensure that the vehicles (including the ego) stop or move slowly. This reduces the effect of the time difference between LiDAR and the camera.

• Select 3-4 frames from the collected data that have vehicles on both sides of the images and vehicles visible in the lidar pcd.