weisongwen / UrbanNavDataset

UrbanNav: an Open-Sourcing Localization Data Collected in Asian Urban Canyons, Including Tokyo and Hong Kong
https://www.polyu-ipn-lab.com/download
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Accuracy of the lidar-camera calibration #14

Closed BayRanger closed 2 years ago

BayRanger commented 3 years ago

Hi, Currently I am doing some lidar reprojection on the image plane, but there seems to a misalignment betweeen the two frames, one potential reason would be the inaccurate calibration... Therefore, I'd like to ask about the accuracy level of the camera lidar calibration.... Screenshot from 2021-09-20 11-35-13

DarrenWong commented 3 years ago

Thanks for using the dataset. Assume you are using the 20200314: The calibration between Lidar-IMU is determined by direct in-situ measurements (the rotation part is approximately identity matrix + z-axis offset 28cm, Lidar is above ), the accuracy level is around ±5cm Camera Intrinsic: using Kalibr The calibration between camera-IMU is determined by Kalibr

The Lidar reprojection to the image is an interesting topic but we didn't test it yet. We can check if you can share more details of how to do the projection. For example some KITTI-related tools? Should change the scan line 64 to 32, and the FOV is a little different between HDL64 and HDL32.