Our current method for multi-lidar calibrationsupports both target andtargetless.
Data for LiDAR-to-LiDAR calibration:
To calibrate your LiDAR sensors, capture one frame each from both the LiDAR sensors of the same scene.
Please keep a note of the following while collecting data:
Each frame captured from the two LiDAR sensors must overlap with each other.
The overlapping section must contain stationary and distinguishable objects for better performance and results.
Each calibration dataset supports only one pair of LiDAR sensors. To calibrate a new pair of LiDAR sensors, follow the above steps and create a new dataset.
Target based calibration flow:
Make sure that the target is clearly visible in the LiDAR sensors.
The target should be rectangular shape having big size (ideally >0.75m for each side).
The board should be rotated around the normal of the board plane by 20 deg to 70 deg in case of a LiDAR which captures data in horizontal lines. This will help us obtain clear edges of the board.
The target should be kept at distance of 1m-2m from the LiDAR. If the board is not visible clearly in this range, try to keep the board at a position where it is clearly visible and edges are not noisy.