Data Collection for Vehicle Lidar Targetless Calibration

Data collection:

1. Mount lidar on the vehicle.

2. Record a scene with 20-50 frames where the vehicle is moving.

3. Having good edges (like buildings) in the point clouds will result in better calibration (preferably a recording in the city than from highways).

4. Flat ground will help with better calibration for roll, pitch and Z.

5. Vehicle going straight will give more accurate results.

Example data:

Extrinsic Calibration Output:

• roll, pitch, yaw are in degrees and px, py, pz are in meters.

• roll, pitch, yaw, px, py, pz are the extrinsic parameters downloaded from the calibration tool.

• vehiclePoint3D is the 3d coordinates of a point in the vehicle coordinate system.

• lidarPoint3D is the 3d coordinates of a point in the lidar coordinate system.