LCC_init

LiDAR camera extrinsic parameter initialization calibration This is a motion-based coarse calibration method for LiDAR-camera extrinsic parameters, with input being a monocular visual odometry and a LiDAR-only odometry.

test.mp4

1. Prerequisites

1. ubuntu and ROS

2. PCL Ceres G2O

3. LiDAR-only odometry

4. monocular visual odometry

2. Catkin_make code

git clone https://github.com/af-doom/LCC_init.git

cd LCC_motion && catkin_make

Enter the following folders to modify "LIDAR_ODOM" and "Camera_odom" parameters

cd LCC_motion/src/LCC_motion/launch/livox_avia.launch

3. Coarse calibration

test data (rosbag) Baidu Cloud Disk

1. Start calibration node

roslaunch lcc_motion livox_avia.launch

2. Start LiDAR-only odometry node, for example

I2EKF-LO

3. Start monocular visual odometry node, for example

orb_slam3_ros

4. Result

cd LCC_motion/src/LCC_motion/ressults

It is recommended to use "Hand-Eye Calibration (only Rotation Based Vins-Mono)" '

4. High-precision calibration

This GitHub library is a supplement to SPTG-LCC. For detailed high-precision calibration, see SPTG-LCC SPTG-LCC

Acknowledgements

• We sincerely appreciate the following open-source projects: I2EKF-LO , orb_slam3_ros, VINS-Mono, Spatial-Temporal-LiDAR-camera-Calibration,SPTG-LCC.