Data Collection for Vehicle Lidar Targetless Calibration

Data collection for targetless lidar-vehicle calibration:

1. Mount lidar on the vehicle.

2. Record a scene with 5-50 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.

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.