Repository including Gazebo models, plugins and worlds to test algorithms for extrinsic calibration of pair of sensors composed of LiDAR and camera devices in any possible combination, as described in this paper:
Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups
Jorge Beltrán, Carlos Guindel, Arturo de la Escalera, Fernando García
IEEE Transactions on Intelligent Transportation Systems, 2022
[Paper] [Preprint]
This repository includes several sensors and calibration target models to evaluate the performance of extrinsic calibration of lidar-camera pair in the Gazebo Simulator. The models need to be moved to ~/.gazebo/models/ if you want access them from Gazebo.
Note: The models included in this repository were designed for evaluating the LIDAR-camera calibration algorithms described in [1] and [2], whose code is provided here.
Sensors:
Calibration targets:
roslaunch velo2cam_gazebo mono_hdl64_p1_real.launch
If you use this work in your research, please consider citing the following paper:
@article{beltran2022,
author={Beltrán, Jorge and Guindel, Carlos and de la Escalera, Arturo and García, Fernando},
journal={IEEE Transactions on Intelligent Transportation Systems},
title={Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups},
year={2022},
doi={10.1109/TITS.2022.3155228}
}
A previous version of this tool is available here and was described on this paper.