lidar_camera_calibration
A ROS package for calibrating camera and LiDAR sensors using OpenCV's PnP and Levenberg-Marquardt optimization.
What is lidar_camera_calibration?
lidar_camera_calibration is a ROS package designed to compute the extrinsic calibration between a camera and a LiDAR sensor. It solves the critical problem of aligning data from these two sensor modalities, which is necessary for accurate sensor fusion in applications like autonomous driving and robotics. The package uses point correspondences and optimization algorithms to determine the precise spatial relationship between the camera and LiDAR.
Robotics engineers and researchers working on autonomous vehicles, drones, or mobile robots that utilize both camera and LiDAR sensors. It is particularly useful for those developing perception stacks within the ROS framework.
Developers choose this package because it provides a specialized, integrated ROS solution that combines camera intrinsic calibration with LiDAR-camera extrinsic calibration using robust optimization methods. Its lightweight nature and direct compatibility with ROS bag files streamline the calibration workflow compared to building custom tools from scratch.
Overview
Light-weight camera LiDAR calibration package for ROS using OpenCV and PCL (PnP + LM optimization)
Use Cases
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