Collection-of-LiDAR-Camera-Calibration

A Collection of LiDAR-Camera-Calibration Papers, Toolboxes and Notes.

Main context of this collection is from this repo.. And I added more to it.

I checked the Papers, Toolboxs one by one, to see if they are good for our research(The good and open-sourced ones are explained in Chinese so far, but will be updated in English).

1. Target-based methods

Paper	Target	Feature	Optimization	Toolbox	Note	Achievability
Extrinsic Calibration of a Camera and Laser Range Finder (improves camera calibration), 2004	checkerboard	C:Plane (a), L: pts in plane (m)	point-to-plane	CamLaserCalibraTool	CN	NO: 只开放了2D单线雷达的代码，肯定不行
Fast Extrinsic Calibration of a Laser Rangefinder to a Camera, 2005	checkerboard	C: Plane (a), L: Plane (m)	plane(n/d) correspondence, point-to-plane	LCCT	*	NO:比较老，matlab实现的，无ros
Extrinsic calibration of a 3D laser scanner and an omnidirectional camera, 2010	checkerboard	C: plane (a), L: pts in plane (m)	point-to-plane	cam_lidar_calib	*	NO：是ros实现的，但是没给执行步骤，且代码整理不好，很多launch文件，需要详细看代码
LiDAR-Camera Calibration using 3D-3D Point correspondences, 2017	cardboard + ArUco	C: 3D corners (a), L: 3D corners (m)	ICP	lidar_camera_calibration	实现	Yes：有详细的代码使用流程，也有视频演示， 流程稍微复杂，但是github超多star，需要实现这个，代码里含有Velodyne的包，不是原生适配Ouster的驱动，含有可能要改动
Reflectance Intensity Assisted Automatic and Accurate Extrinsic Calibration of 3D LiDAR and Panoramic Camera Using a Printed Chessboard, 2017	checkerboard	C: 2D corners (a), L: 3D corners (a)	PnP, angle difference	ILCC	*	Python实现，使用流程较长，需要看懂详细的流程后，可用
Extrinsic Calibration of Lidar and Camera with Polygon, 2018	regular cardboard	C: 2D edge, corners (a), L: 3D edge, pts in plane (a)	point-to-line, point-inside-polygon	ram-lab/plycal	*	有GUI页面，应该很直观，需要收集 synced image(png,jpg,jpeg) 和 pcd 包，而不是ROS
Automatic Extrinsic Calibration of a Camera and a 3D LiDAR using Line and Plane Correspondences, 2018	checkerboard	C: 3D edge, plane(a), L: 3D edge, pts in plane (a)	direcion/normal, point-to-line, point-to-plane	Matlab LiDAR Toolbox	*	Matlab里的官方方法，过程详细
Improvements to Target-Based 3D LiDAR to Camera Calibration, 2020	cardboard with ArUco	C: 2d corners (a), L: 3D corners (a)	PnP, IOU	github	*	详细流程，非ros, 需收集pcd文件
ACSC: Automatic Calibration for Non-repetitive Scanning Solid-State LiDAR and Camera Systems, 2020	checkerboard	C: 2D corners (a), L: 3D corners (a)	PnP	ACSC	*	有详细流程，ros
Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups, 2021	cardboard with circle & Aruco	C: 3D points (a), L: 3D points (a)	ICP	velo2cam_ calibration	*	有详细流程，ros
Single-Shot is Enough: Panoramic Infrastructure Based Calibration of Multiple Cameras and 3D LiDARs,2021 IROS	panoramic infrastructure	C: CCTag(a), L: corner points and vectors(a)	PnP, ICP	multiple-cameras-and-3D-LiDARs-extrinsic-calibration	*	标定物很复杂，且使用流程不太详细，算了
Joint Camera Intrinsic and LiDAR-Camera Extrinsic Calibration, 2023, ICRA	chessboard + circles	C: chessboard corners, circle centers, L: circle centers	PnP, intrinsic constraints (corners, cirlce center)	OpenCalib/JointCalib	CN	github使用流程很不详细，需要详细看论文和代码
Optimising the selection of samples for robust lidar camera calibration, 2021, ITSC	Chessboard			Camera-LiDAR Calibration		Yes:有详细ros流程，还有youtube视频教学
ROS official method	fiducial mark+types			ROS official method	实现	ros官网的一个方法，比较老，需要实现一下，毕竟ros官方
Another high star repo	Chessboard			Another high star repo	实现

C: camera, L: LiDAR, a: automaic, m: manual

2. Targetless methods

2.1. Motion-based methods

Paper	Feature	Optimization	Toolbox	Note	Achievability
LiDAR and Camera Calibration Using Motions Estimated by Sensor Fusion Odometry, 2018	C: motion (ICP), L: motion (VO)	hand-eye calibration	*	*	未开源

2.2. Scene-based methods

2.2.1. Traditional methods

Paper	Feature	Optimization	Toolbox	Note	Achievability
Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information, 2012	C：grayscale, L: reflectivity	mutual information, BB steepest gradient ascent	Extrinsic Calib	*	开源网页失效
Automatic Calibration of Lidar and Camera Images using Normalized Mutual Information, 2013	C:grayscale, L: reflectivity, noraml	normalized MI, particle swarm	*	*	未开源
Automatic Online Calibration of Cameras and Lasers, 2013	C: Canny edge, L: depth-discontinuous edge	correlation, grid search	*	*	未开源
SOIC: Semantic Online Initialization and Calibration for LiDAR and Camera, 2020	semantic centroid	PnP	*	*	未开源
A Low-cost and Accurate Lidar-assisted Visual SLAM System, 2021	C: edge(grayscale), L: edge (reflectivity, depth projection)	ICP, coordinate descent algorithms	CamVox	*
Pixel-level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments,2021	C:Canny edge(grayscale), L: depth-continuous edge	point-to-line, Gaussian-Newton	livox_camera_calib	*
CRLF: Automatic Calibration and Refinement based on Line Feature for LiDAR and Camera in Road Scenes, 2021	C:straight line, L: straight line	perspective3-lines (P3L)	*	CN
Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras,2021	C:Canny edge(grayscale), L: depth-continuous edge	point-to-plane, point-to-edge	mlcc	*
General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration Toolbox,ICRA 2023	C:keypoints, L: keypoints on intensity images (by SuperGlue)	reprojection error minimization, RANSAC	direct_visual_lidar_calibration	*

2.2.2. Deep-learning methods

Paper	Toolbox	Note	Achievability
RegNet: Multimodal sensor registration using deep neural networks, 2017,IV	regnet	*	还没完全开源，代码运行流程都不全
CalibNet: Geometrically supervised extrinsic calibration using 3d spatial transformer networks,2018,IROS	CalibNet	*	github不是这个方法的使用流程toolbox，而是怎么去训练这个方法的解释
LCCNet: Lidar and Camera Self-Calibration using CostVolume Network,2021,CVPRW	LCCNet	*	github不是这个方法的使用流程toolbox，而是怎么去训练这个方法的解释

3. Other toolboxes

Toolbox	Introduction	Note
Apollo sensor calibration tools	targetless method, no source code	CN
Autoware camera lidar calibrator	pick points mannually, PnP	*
Autoware calibration camera lidar	checkerboard, similar to LCCT	CN
livox_camera_lidar_calibration	pick points mannually, PnP	*
OpenCalib	target-based, target-less, mannual	OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving
tier4/CalibrationTools	target-based, mannual	*