Title: Automatic Extrinsic Calibration for Lidar-Stereo Vehicle Sensor Setups,
Abstract: Sensor setups consisting of a combination of 3D range scanner lasers and
stereo vision systems are becoming a popular choice for on-board perception
systems in vehicles; however, the combined use of both sources of information
implies a tedious calibration process. We present a method for extrinsic
calibration of lidar-stereo camera pairs without user intervention. Our
calibration approach is aimed to cope with the constraints commonly found in
automotive setups, such as low-resolution and specific sensor poses. To
demonstrate the performance of our method, we also introduce a novel approach
for the quantitative assessment of the calibration results, based on a
simulation environment. Tests using real devices have been conducted as well,
proving the usability of the system and the improvement over the existing
approaches. Code is available at this http URL