A Cooperative LiDAR-Camera Scheme for Extrinsic Calibration

In this paper, a method for LiDAR-Camera extrinsic calibration from multiple static scenes is proposed, using a simple design for calibration target with an ArUco marker. Towards this end, a novel LiDAR-Camera cooperation scheme is employed. At first, the Camera-based detection of the marker guides a scanning process of the LiDAR point cloud to detect the 3D marker in it. Once the marker has been accurately localized in the LiDAR point cloud, further correction takes place regarding the estimated visual pose estimation of the marker. In this way the advantages of each sensor are utilized to improve marker localization from both. Experimental evaluation shows improved robustness regarding the distance between the target and the sensors, along with more accurate calibration of the extrinsic parameters.