OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving

Abstract

Accurate sensor calibration is a prerequisite for multi-sensor perception and localization systems for autonomous vehicles. The intrinsic parameter calibration of the sensor is to obtain the mapping relationship inside the sensor, and the extrinsic parameter calibration is to transform two or more sensors into a unified spatial coordinate system. Most sensors need to be calibrated after installation to ensure the accuracy of sensor measurements. To this end, we present OpenCalib, a calibration toolbox that contains a rich set of various sensor calibration methods. OpenCalib covers manual calibration tools, automatic calibration tools, factory calibration tools, and online calibration tools for different application scenarios. At the same time, to evaluate the calibration accuracy and subsequently improve the accuracy of the calibration algorithm, we released a corresponding benchmark dataset. This paper introduces various features and calibration methods of this toolbox. To our knowledge, this is the first open-sourced calibration codebase containing the full set of autonomousdriving-related calibration approaches in this area. We wish that the toolbox could be helpful to autonomous driving researchers. We have open-sourced our code on GitHub to benefit the community.

Learning‐based encoded target detection on iteratively orthorectified images for accurate fisheye calibration

“…For this task, camera calibration methods are proposed with a specially designed board. Although available calibration methods have obtained satisfying results (Yan et al, 2022), they still require advantageous calibration conditions. (1) Intact calibration board measurement is required for detecting the board (Bradski, 2000).…”

OpenCalib: A multi-sensor calibration toolbox for autonomous driving

“…Since there are few open-source toolboxes for sensor calibration, we propose OpenCalib, a multi-sensor calibration toolbox for autonomous driving. If you want more details about OpenCalib, please refer to the paper [1].…”