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Most sensor setups for onboard autonomous perception are composed of LiDARsand vision systems, as they provide complementary information that improves thereliability of the different algorithms necessary to obtain a robust sceneunderstanding. However, the effective use of information from different sourcesrequires an accurate calibration between the sensors involved, which usuallyimplies a tedious and burdensome process. We present a method to calibrate theextrinsic parameters of any pair of sensors involving LiDARs, monocular orstereo cameras, of the same or different modalities. The procedure is composedof two stages: first, reference points belonging to a custom calibration targetare extracted from the data provided by the sensors to be calibrated, andsecond, the optimal rigid transformation is found through the registration ofboth point sets. The proposed approach can handle devices with very differentresolutions and poses, as usually found in vehicle setups. In order to assessthe performance of the proposed method, a novel evaluation suite built on topof a popular simulation framework is introduced. Experiments on the syntheticenvironment show that our calibration algorithm significantly outperformsexisting methods, whereas real data tests corroborate the results obtained inthe evaluation suite. Open-source code is available athttps://github.com/beltransen/velo2cam_calibration

Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups