autowarefoundation · yabuta · Aug 29, 2022 · Aug 30, 2022 · Oct 31, 2022 · Oct 31, 2022
diff --git a/docs/how-to-guides/calibrating-your-sensors.md b/docs/how-to-guides/calibrating-your-sensors.md
@@ -11,12 +11,30 @@ Autoware expects to have multiple sensors attached to the vehicle as input to pe
 - Navigation2 provides a [good tutorial for camera internal calibration](https://navigation.ros.org/tutorials/docs/camera_calibration.html).
 - [AutoCore](https://autocore.ai/) provides a [light-weight tool](https://github.com/autocore-ai/calibration_tools/tree/main/camera_intrinsic_calib).
 
+### Camera calibration tool from TIER IV
+
+TIER IV では Camera のキャリブレーションを行うため以下の二種類のキャリブレーションツールを提供しています
+
+- [Camera Calibration based on ROS](https://github.com/tier4/CalibrationTools/tree/tier4/universe/sensor#intrinsic-camera-calibration)
+  - パラメータ値を直接変更し rviz を見ながら調整をするツールです。
+- [Camera Calibration via camera-lidar calibraton](https://github.com/tier4/CalibrationTools/tree/tier4/universe/sensor#intrinsic-camera-calibration)
+  - camera-lidar キャリブレーションと同時に camera の内パラ推定ができます
+
 ## Lidar-lidar calibration
 
 ### Lidar-Lidar Calibration tool from Autocore
 
 [LL-Calib on Github](https://github.com/autocore-ai/calibration_tools/tree/main/lidar-lidar-calib), provided by [AutoCore](https://autocore.ai/), is a lightweight toolkit for online/offline 3D LiDAR to LiDAR calibration. It's based on local mapping and "GICP" method to derive the relation between main and sub lidar. Information on how to use the tool, troubleshooting tips and example rosbags can be found at the above link.
 
+### Lidar-lidar calibration tool from TIER IV
+
+TIER IV では LiDAR - LiDAR のキャリブレーションを行うため以下の二種類のキャリブレーションツールを提供しています
+
+- [Extrinsic Manual Calibration](https://github.com/tier4/CalibrationTools/tree/tier4/universe/sensor#generic-calibration)
+  - パラメータ値を直接変更し rviz を見ながら調整をするツールです。
+- [Extrinsic Map-Based Calibration](https://github.com/tier4/CalibrationTools/tree/tier4/universe/sensor#lidar-lidar-calibration)
+  - 点群地図を使って自動的にキャリブレーションを行うツールです。
+
 ## Lidar-camera calibration
 
 Developed by MathWorks, The Lidar Camera Calibrator app enables you to interactively estimate the rigid transformation between a lidar sensor and a camera.
@@ -32,9 +50,35 @@ Developed by [AutoCore](https://autocore.ai/), an easy-to-use lightweight toolki
 
 <https://github.com/autocore-ai/calibration_tools/tree/main/lidar-cam-calib-related>
 
+### Lidar-camera calibratio from TIER IV
+
+TIER IV では LiDAR - Camera のキャリブレーションを行うため以下の三種類のキャリブレーションツールを提供しています。
+
+- [Extrinsic Manual Calibration](https://github.com/tier4/CalibrationTools/tree/tier4/universe/sensor#generic-calibration)
+  - パラメータ値を直接変更し rviz を見ながら調整をするツールです。
+- [Extrinsic Interactive Calibration](https://github.com/tier4/CalibrationTools/tree/tier4/universe/sensor#camera-lidar-calibration)
+  - 画像と点群の関係をクリックすることでキャリブレーションを行うツールです。
+- [Extrinsic tag-based calibration](https://github.com/tier4/CalibrationTools/tree/tier4/universe/sensor#camera-lidar-calibration)
+  - キャリブレーションボードを使って自動的にキャリブレーションを行うツールです。
+
 ## Lidar-IMU calibration
 
 Developed by [APRIL Lab](https://github.com/APRIL-ZJU) at Zhejiang University in China, the LI-Calib calibration tool is a toolkit for calibrating the 6DoF rigid transformation and the time offset between a 3D LiDAR and an IMU, based on continuous-time batch optimization.
 IMU-based cost and LiDAR point-to-surfel (surfel = surface element) distance are minimized jointly, which renders the calibration problem well-constrained in general scenarios.
 
 [AutoCore](https://autocore.ai/) has forked the original LI-Calib tool and overwritten the Lidar input for more general usage. Information on how to use the tool, troubleshooting tips and example rosbags can be found at the [LI-Calib fork on Github](https://github.com/autocore-ai/calibration_tools/tree/main/li_calib).
+
+## Base-lidar calibration
+
+### Base-lidar calibration from TIER IV
+
+TIER IV では Base - LiDAR のキャリブレーションを行うため以下の二種類のキャリブレーションツールを提供しています
+
+- [Extrinsic Manual Calibration](https://github.com/tier4/CalibrationTools/tree/tier4/universe/sensor#generic-calibration)
+  - パラメータ値を直接変更し rviz を見ながら調整をするツールです。
+- [Extrinsic ground-plane Calibration](https://github.com/tier4/CalibrationTools/tree/tier4/universe/sensor#base-lidar-calibration)
+  - roll, pitch, z を自動でキャリブレーションするツールです。
+
+## Other Calibration Tools from TIER IV
-## Other Calibration Tools from TIER IV
+## Other calibration tools from TIER IV
-## Other Calibration Tools from TIER IV
+## Other calibration tools from TIER IV
+
+TIER IV では sensor の他に Localization, control のキャリブレーションツールを開発し OSS として公開しています。他のキャリブレーションツールは[こちら](https://github.com/tier4/CalibrationTools)を参照してください
diff --git a/docs/installation/related-tools/index.md b/docs/installation/related-tools/index.md
@@ -1,5 +1,17 @@
 # Installation of related tools
 
-!!! warning
+## Calibration Tool
-## Calibration Tool
+## Calibration tools
-## Calibration Tool
+## Calibration tools
 
-    Under Construction
+### Install Calibration of TIER IV
-### Install Calibration of TIER IV
+### Install Calibration tools from TIER IV
-### Install Calibration of TIER IV
+### Install Calibration tools from TIER IV
+
+After installing [autoware](https://github.com/tier4/autoware) (please see [source-installation](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/) page), execute the following commands:
+
+```bash
+cd autoware
+wget https://raw.githubusercontent.com/tier4/CalibrationTools/tier4/universe/calibration_tools.repos
+vcs import src < calibration_tools.repos
+rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+```
+
+Check [here](https://github.com/tier4/CalibrationTools/blob/tier4/universe/README.md) for a detailed explanation.