An Adaptive Camera and Lidar Joint Calibration Algorithm

Abstract

In large mechanism intelligent control system, cameras and lidars are usually mounted to obtain environmental information. In order to fuse the information of camera and lidar, joint calibration is essential to place their data under the same coordinate system. To solve the problem of camera and 3D lidar joint calibration, an adaptive joint calibration method is proposed. Only one planar calibration board is needed for the calibration. In the nonlinear optimization procedure, the camera extrinsic parameters and optimized together with the rotation matrix and translation vector from lidar to camera coordinate. Compared with the method of fixed camera parameters, average calibration error decreases by 22.50%. By using weighed lidar data, calibration error further decreases by 8.80% in average.