# Automatic Extrinsic Calibration for Lidar-Stereo Vehicle Sensor Setups

arXiv: https://arxiv.org/abs/1705.04085 · HTML: https://mlsanity.com/paper/1705.04085/

## Key facts

- Cited by 17 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 May 2017.

## Built on by (most cited first, 17 of 17)

- [The GOOSE Dataset for Perception in Unstructured Environments](https://mlsanity.com/paper/2310.16788/) (2023)
- [Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups](https://mlsanity.com/paper/2101.04431/) (2021)
- [CalibDNN: Multimodal Sensor Calibration for Perception Using Deep Neural Networks](https://mlsanity.com/paper/2103.14793/) (2021)
- [SOAC: Spatio-Temporal Overlap-Aware Multi-Sensor Calibration using Neural Radiance Fields](https://mlsanity.com/paper/2311.15803/) (2023)
- [Excavating in the Wild: The GOOSE-Ex Dataset for Semantic Segmentation](https://mlsanity.com/paper/2409.18788/) (2024)
- [3DGS-Calib: 3D Gaussian Splatting for Multimodal SpatioTemporal Calibration](https://mlsanity.com/paper/2403.11577/) (2024)
- [Edge-Aided Sensor Data Sharing in Vehicular Communication Networks](https://mlsanity.com/paper/2206.08882/) (2022)
- [P2O-Calib: Camera-LiDAR Calibration Using Point-Pair Spatial Occlusion Relationship](https://mlsanity.com/paper/2311.02413/) (2023)
- [Cooperative Visual-LiDAR Extrinsic Calibration Technology for Intersection Vehicle-Infrastructure: A review](https://mlsanity.com/paper/2405.10132/) (2024)
- [Iterative Camera-LiDAR Extrinsic Optimization via Surrogate Diffusion](https://mlsanity.com/paper/2411.10936/) (2024)
- [TOMD: A Trail-based Off-road Multimodal Dataset for Traversable Pathway Segmentation under Challenging Illumination Conditions](https://mlsanity.com/paper/2506.21630/) (2025)
- [One target to align them all: LiDAR, RGB and event cameras extrinsic calibration for Autonomous Driving](https://mlsanity.com/paper/2511.12291/) (2025)
- [CLAIM: Camera-LiDAR Alignment with Intensity and Monodepth](https://mlsanity.com/paper/2512.14001/) (2025)
- [Optimal Target Shape for LiDAR Pose Estimation](https://mlsanity.com/paper/2109.01181/) (2021)
- [Iterative Camera-LiDAR Extrinsic Optimization via Surrogate Diffusion](https://mlsanity.com/paper/2506.14706/) (2025)
- [RLCNet: An end-to-end deep learning framework for simultaneous online calibration of LiDAR, RADAR, and Camera](https://mlsanity.com/paper/2512.08262/) (2025)
- [Native-Domain Cross-Attention for Camera-LiDAR Extrinsic Calibration Under Large Initial Perturbations](https://mlsanity.com/paper/2603.29414/) (2026)

## Abstract (arXiv)

Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a tedious calibration process. We present a method for extrinsic calibration of lidar-stereo camera pairs without user intervention. Our calibration approach is aimed to cope with the constraints commonly found in automotive setups, such as low-resolution and specific sensor poses. To demonstrate the performance of our method, we also introduce a novel approach for the quantitative assessment of the calibration results, based on a simulation environment. Tests using real devices have been conducted as well, proving the usability of the system and the improvement over the existing approaches. Code is available at http://wiki.ros.org/velo2cam_calibration