A practical method for calibration of laser radar and camera based on double parallel planes

An effective algorithm for calibrating the extrinsic parameters between a camera and a laser radar mounted on a vehicle was studied.The calibration process was composed of two successive steps,i.e.calibration of each sensor with respect to vehicle coordinate system and joint calibration of both sensor later.Firstly,according to the laser scanning data responding to double parallel calibration boards,the pitch degree and yaw degree of laser radar with respect to vehicle coordinate system can be computed.Secondly the extrinsic parameters between a camera and vehicle coordinate system were computed employing a planar checkerboard pattern.Lastly,the joint calibration of whole system including laser radar,camera,and vehicle was realized by integrating the two previous steps.This proposed method can complete the whole system calibration with only scanning data of laser and camera responding to the calibration target one time.The simulation and experimental results show that the proposed method can achieve calibration result with high precision.