The integration of multiple cameras and 3D Li- DARs has become basic configuration of augmented reality devices, robotics, and autonomous vehicles. The calibration of multi-modal sensors is crucial for a system to properly function, but it remains tedious and impractical for mass production. Moreover, most devices require re-calibration after usage for certain period of time. In this paper, we propose a single-shot solution for calibrating extrinsic transformations among multiple cameras and 3D LiDARs. We establish a panoramic infrastructure, in which a camera or LiDAR can be robustly localized using data from single frame. Experiments are conducted on three devices with different camera-LiDAR configurations, showing that our approach achieved comparable calibration accuracy with the state-of-the-art approaches but with much greater efficiency.
@article{arxiv.2103.12941,
title = {Single-Shot is Enough: Panoramic Infrastructure Based Calibration of Multiple Cameras and 3D LiDARs},
author = {Chuan Fang and Shuai Ding and Zilong Dong and Honghua Li and Siyu Zhu and Ping Tan},
journal= {arXiv preprint arXiv:2103.12941},
year = {2021}
}