Data Collection for Vehicle Lidar Targetless Calibration
Data collection for targetless lidar-vehicle calibration:

Data collection for targetless lidar-vehicle calibration:

  1. 1.
    Mount lidar on the vehicle.
  2. 2.
    Record a scene with 5-50 frames where the vehicle is moving.
  3. 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. 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.
Export as PDF
Copy link
Outline