How waymo align LiDAR point to image?

waymo-research / waymo-open-dataset

Waymo Open Dataset

https://www.waymo.com/open

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Open jonbakerfish opened 3 years ago

jonbakerfish commented 3 years ago

Hi, thanks for this great dataset. I have a question about LiDAR and camera calibration in your paper：

Camera projection: We provide accurate LiDAR point to camera image projections with rolling shutter effect compensated.

What kind of method did you use to calibrate the LiDAR and camera for accurate projection?

peisun1115 commented 2 years ago

You can check our paper which describes the projection algorithm or check the code in third_party/camera