Unified Intrinsic and Extrinsic Camera and LiDAR Calibration under Uncertainties
Julius Kümmerle,Tilman Kühner,Julius Kümmerle,Tilman Kühner
Many approaches for camera and LiDAR calibration are presented in literature but none of them estimates all intrinsic and extrinsic parameters simultaneously and therefore optimally in a probabilistic sense.In this work, we present a method to simultaneously estimate intrinsic and extrinsic parameters of cameras and LiDARs in a unified problem. We derive a probabilistic formulation that enables fl...
