Data Collection for LiDAR-LiDAR Calibration

Our current method for lidar-lidar calibration supports both target (single and multiple) and targetless.

How to collect the data for the Targetless approach?

This calibration works for LiDARs with an overlapping field of view only. Support for LiDARs with a non-overlapping field of view is coming soon.

1. Set up the LiDAR sensors to calibrate on an object or vehicle and ensure they are placed with an overlapping field of view.

2. Capture the LiDAR data from the first sensor (could be either of the two) for 5 seconds and export one frame of the LiDAR data at 3 seconds. This is to ensure that the sensor is stable from any shaky movements.

3. Repeat step 2 for the second sensor.

How to collect the data for the Single target approach?

1. Set up the LiDAR sensors to calibrate on the object or a vehicle and ensure they have an overlapping field of view with their placement.

2. Place the calibration target in the overlapping field of view of both the LiDARs.

3. Capture the LiDAR data from the first sensor for 5 seconds and export one frame of the captured data from the middle (maybe at 3 seconds duration). This is to ensure the sensor is stable from any shaky moments.

4. Repeat step 3 for the second sensor.

How to collect data for the Multi-Target approach?

Prerequisites for the Multi-Target approach

Calibration Targets: 3 square or rectangular boards with different sizes ensuring a minimum size of 1mx1m.

Data collection:

1. Place the calibration targets in the overlapping field of view of both the LiDARs. Targets can be tilted, placed on the ground, or a stand for the data collection.

2. Place the targets parallel to the LiDAR FOVs at an optimal distance of 2-10m, based on the target sizes, LiDARs capture range, and laser channels count.

3. Avoid holding the targets or standing close to them to ensure they are captured clearly in the point cloud.

4. Capture the data from LiDAR 1 and LiDAR 2.