Targetless Multiple Camera-LiDAR Extrinsic Calibration using Object Pose Estimation
Byung-Hyun Yoon Hyeon-Woo Jeong Kang-Sun Choi Byung-Hyun Yoon Hyeon-Woo Jeong Kang-Sun Choi
We propose a targetless method for calibrating the extrinsic parameters among multiple cameras and a LiDAR sensor using object pose estimation. Contrast to previous targetless methods requiring certain geometric features, the proposed method exploits any objects of unspecified shapes in the scene to estimate the calibration parameters in single-scan configuration. Semantic objects in the scene are...