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In this paper, we propose a method of targetless and automatic Camera-LiDARcalibration. Our approach is an extension of hand-eye calibration framework to2D-3D calibration. By using the sensor fusion odometry method, the scaledcamera motions are calculated with high accuracy. In addition to this, weclarify the suitable motion for this calibration method.  The proposed method only requires the three-dimensional point cloud and thecamera image and does not need other information such as reflectance of LiDARand to give initial extrinsic parameter. In the experiments, we demonstrate ourmethod using several sensor configurations in indoor and outdoor scenes toverify the effectiveness. The accuracy of our method achieves more than othercomparable state-of-the-art methods.

LiDAR and Camera Calibration using Motion Estimated by Sensor Fusion Odometry