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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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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Abstract 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.
AbstractList 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.
ArticleNumber 100393
Author Cai, Xinyu
Li, Yikang
Zhao, Ming
Liu, Yuqian
Zhong, Zebin
Liu, Zhuochun
Shi, Chunlei
Ma, Zheng
Yan, Guohang
Ma, Tao
Liu, Zhizheng
Wang, Chengjie
Wei, Pengjin
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  givenname: Guohang
  surname: Yan
  fullname: Yan, Guohang
  email: yanguohang@pjlab.org.cn
  organization: Autonomous Driving Group, Shanghai AI Laboratory, China
– sequence: 2
  givenname: Zhuochun
  surname: Liu
  fullname: Liu, Zhuochun
  email: liuzhuochun@pjlab.org.cn
  organization: Autonomous Driving Group, Shanghai AI Laboratory, China
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  givenname: Chengjie
  surname: Wang
  fullname: Wang, Chengjie
  email: wangchengjie@pjlab.org.cn
  organization: Autonomous Driving Group, Shanghai AI Laboratory, China
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  givenname: Chunlei
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  organization: Autonomous Driving Group, Shanghai AI Laboratory, China
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  email: matao@pjlab.org.cn
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  givenname: Zhizheng
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  fullname: Liu, Zhizheng
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  givenname: Zebin
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  email: zhaoming@senseauto.com
  organization: Autonomous Driving Group, SenseTime, China
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  givenname: Zheng
  surname: Ma
  fullname: Ma, Zheng
  email: mazheng@senseauto.com
  organization: Autonomous Driving Group, SenseTime, China
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  givenname: Yikang
  orcidid: 0000-0002-3508-510X
  surname: Li
  fullname: Li, Yikang
  email: liyikang@pjlab.org.cn, liyikang@senseauto.com
  organization: Autonomous Driving Group, Shanghai AI Laboratory, China
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Cites_doi 10.3390/s110908992
10.5772/50900
10.1002/rob.21542
10.1109/34.888718
10.3390/s130201902
10.1109/ICRA40945.2020.9196627
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Sensors calibration
Robotics
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Snippet Accurate sensor calibration is a prerequisite for autonomous vehicles’ multi-sensor perception. Even though there are many open-source projects related to...
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SubjectTerms Autonomous driving
Open-source library
Robotics
Sensors calibration
Title OpenCalib: A multi-sensor calibration toolbox for autonomous driving
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