In this paper, we introduce a novel approach to estimate the extrinsic parameters between a LiDAR and a camera. Our method is based on line correspondences between the LiDAR point clouds and camera images. We solve the rotation matrix with 3D–2D infinity point pairs extracted from parallel lines. Then, the translation vector can be solved based on the point-on-line constraint. Different from other target-based methods, this method can be performed simply without preparing specific calibration objects because parallel lines are commonly presented in the environment. We validate our algorithm on both simulated and real data. Error analysis shows that our method can perform well in terms of robustness and accuracy.

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