A Simulation Study on Calibration of A LiDAR with Respect to A Camera by
Using Point and Plane Constraints
Abstract
This letter provides a simulation study on calibration of a 3D LiDAR
with respect to a camera, with point-topoint and point-on-plane
correspondences for calibration constraints, by extending our previously
proposed 2D LiDAR calibration methods. The calibration performance is
examined in terms of vertical scan view and resolution, especially in
narrow/sparse scan space, in the presence of sensor noise. It
contributes to a guidance on a use of various sensors and dataset
depending on contexts and applications with different scan view and
resolution, and an understanding of the effect of the different
constraints on calibration. As a result, the combination of the point
and plane constraints yields better performance than either of them.