第二篇---2d_Lidar与相机的外参标定

2d_Lidar与相机的外参标定

1、2D雷达标定

1.1 旷世：CamLaserCalibraTool

　　https://github.com/MegviiRobot/CamLaserCalibraTool

• 标定相机与2D雷达
• 相机与雷达需要有共视区域
• 参考论文：Extrinsic Calibration of a Camera and Laser Range Finder

1.2 ros: Laser Camera Calibration

• 相比旷世的方式，可以求解time offset

1.3 kalibr_calibrate_imu_camera_laser

• for 2D激光，很容易改成3D激光与相机标定
• 不要求具备共视区域
• 可以标定出相机与雷达之间的时间戳offset
• 参考论文：A General Approach to Spatiotemporal Calibration in Multisensor Systems

1.4 camera_lidar_calibration_v2

　　https://github.com/TurtleZhong/camera_lidar_calibration_v2.git 

 

1.5 Laser-Camera-Calibration-Toolbox

https://github.com/zhixy/Laser-Camera-Calibration-Toolbox

 

 

参考：

https://zhuanlan.zhihu.com/p/137501892

https://github.com/MegviiRobot/CamLaserCalibraTool

https://www.cnblogs.com/CV-life/p/11426028.html  

http://mapir.isa.uma.es/mapirwebsite/index.php/computer-vision-menu-topic/190-topic-calibration.html   

https://blog.csdn.net/yourgreatfather/article/details/88245566

https://blog.csdn.net/learning_tortosie/article/details/82347694?utm_source=blogxgwz7&utm_medium=distribute.pc_relevant.none-task-blog-title-6&spm=1001.2101.3001.4242

https://blog.csdn.net/zbr794866300/article/details/107144682?utm_medium=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.control&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.control