Data Collection for Lidar-Camera Calibration (Targetless)
Last updated
Last updated
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.
