This paper presents a detailed methodology for calibration 0f a lidar sensor and camera system.
These researchers from Korea propose a robust extrinsic calibration algorithm that can be implemented easily and has small calibration error. The extrinsic calibration parameters are estimated by minimizing the distance between corresponding features projected onto the image plane. The features are edge and centerline features on a v-shaped calibration target.
The proposed algorithm contributes two ways to improve the calibration accuracy. First, we use different weights to distance between a point and a line feature according to the correspondence accuracy of the features. Second, we apply a penalizing function
to exclude the influence of outliers in the calibration datasets. Additionally, based on our robust calibration approach for a single LiDAR-camera pair, we introduce a joint calibration that estimates the extrinsic parameters of multiple sensors at once by minimizing one objective function with loop closing constraints.