FAST-Calib

FAST-Calib: LiDAR-Camera Extrinsic Calibration in One Second

FAST-Calib is an efficient target-based extrinsic calibration tool for LiDAR-camera systems (eg., FAST-LIVO2).

Key highlights include:

1. Support solid-state and mechanical LiDAR.
2. No need for any initial extrinsic parameters.
3. Achieve highly accurate calibration results in just one seconds.

In short, it makes extrinsic calibration as simple as intrinsic calibration.

Related paper:

FAST-Calib: LiDAR-Camera Extrinsic Calibration in One Second

📬 For further assistance or inquiries, please feel free to contact Chunran Zheng at [email protected].

Left: Example of circle extraction from Mid360 point cloud | Right: Point cloud colored with calibrated extrinsic.

1. Prerequisites

PCL>=1.8, OpenCV>=4.0.

2. Run our examples

1. Prepare the static acquisition data in calib_data folder (see sample data from Mid360, Avia and Ouster):

• rosbag containing point cloud messages
• corresponding image

2. Run the calibration process:

roslaunch fast_calib calib.launch

3. Run on your own sensor suite

1. Customize the calibration target in the image below.
2. Record data to rosbag.
3. Provide the instrinsic matrix in qr_params.yaml.
4. Set distance filter in qr_params.yaml for board point cloud (extra points are acceptable).
5. Calibrate now!

Left: Actual calibration target | Right: Technical drawing with annotated dimensions.

4. Appendix

The calibration target design is based on the velo2cam_calibration.

For further details on the algorithm workflow, see this document.

5. Acknowledgments

Special thanks to Jiaming Xu for his support, Haotian Li for the equipment, and the velo2cam_calibration algorithm.