SensorX2car is a calibration toolbox for the online calibration of sensor-to-car coordinate systems in road scenes, which contains four commonly used sensors (pose_sensor (IMU + GNSS), LiDAR (Light Detection and Ranging), Camera, and millimeter-wave Radar) for autonomous driving.
| calibration param | calibration type | calibration method | mannual calibration | auto calibration | usage documentation |
|---|---|---|---|---|---|
| camera2car | extrinsic | target-less | ✔ | ✔ | camera2car |
| lidar2car | extrinsic | target-less | ✔ | lidar2car | |
| pose_sensor2car | extrinsic | target-less | ✔ | pose_sensor2car | |
| radar2car | extrinsic | target-less | ✔ | radar2car |
If you find this project useful in your research, please consider cite:
@misc{2301.07279,
Author = {Guohang Yan and Zhaotong Luo and Zhuochun Liu and Yikang Li},
Title = {SensorX2car: Sensors-to-car calibration for autonomous driving in road scenarios},
Year = {2023},
Eprint = {arXiv:2301.07279},
}