OpenCalib: A multi-sensor calibration toolbox for autonomous driving

Accurate sensor calibration is a prerequisite for autonomous vehicles’ multi-sensor perception. Even though there are many open-source projects related to sensor calibration, most are designed for a specific sensor or application scenario. To this end, we propose OpenCalib, a toolbox with a rich set...

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Bibliographic Details
Published inSoftware impacts Vol. 14; p. 100393
Main Authors Yan, Guohang, Liu, Zhuochun, Wang, Chengjie, Shi, Chunlei, Wei, Pengjin, Cai, Xinyu, Ma, Tao, Liu, Zhizheng, Zhong, Zebin, Liu, Yuqian, Zhao, Ming, Ma, Zheng, Li, Yikang
Format Journal Article
LanguageEnglish
Published Elsevier B.V 01.12.2022
Subjects
Autonomous driving
Open-source library
Robotics
Sensors calibration
Open-source library
Autonomous driving
Sensors calibration
Robotics
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Summary:Accurate sensor calibration is a prerequisite for autonomous vehicles’ multi-sensor perception. Even though there are many open-source projects related to sensor calibration, most are designed for a specific sensor or application scenario. To this end, we propose OpenCalib, a toolbox with a rich set of sensor calibration methods for autonomous driving vehicles. OpenCalib covers the most commonly used sensors, including LiDAR, Camera, IMU, Radar, and different application scenarios, including road-scene-based manual & automatic calibration, calibration on the production-line, and online calibration. To the best of our knowledge, OpenCalib is the first full-set open-sourced calibration toolbox specifically designed for autonomous vehicles.
ISSN:2665-9638
2665-9638
DOI:10.1016/j.simpa.2022.100393