# LiDAR and Camera Calibration using Motion Estimated by Sensor Fusion Odometry

arXiv: https://arxiv.org/abs/1804.05178 · HTML: https://mlsanity.com/paper/1804.05178/

## Key facts

- Cited by 17 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Apr 2018.

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

- [3D Object Detection for Autonomous Driving: A Survey](https://mlsanity.com/paper/2106.10823/) (2021)
- [CRLF: Automatic Calibration and Refinement based on Line Feature for LiDAR and Camera in Road Scenes](https://mlsanity.com/paper/2103.04558/) (2021)
- [CalibDNN: Multimodal Sensor Calibration for Perception Using Deep Neural Networks](https://mlsanity.com/paper/2103.14793/) (2021)
- [Calib-Anything: Zero-training LiDAR-Camera Extrinsic Calibration Method Using Segment Anything](https://mlsanity.com/paper/2306.02656/) (2023)
- [INF: Implicit Neural Fusion for LiDAR and Camera](https://mlsanity.com/paper/2308.14414/) (2023)
- [UniCal: Unified Neural Sensor Calibration](https://mlsanity.com/paper/2409.18953/) (2024)
- [From Chaos to Calibration: A Geometric Mutual Information Approach to Target-Free Camera LiDAR Extrinsic Calibration](https://mlsanity.com/paper/2311.01905/) (2023)
- [Robust Long-Range Perception Against Sensor Misalignment in Autonomous Vehicles](https://mlsanity.com/paper/2408.11196/) (2024)
- [CROON: Automatic Multi-LiDAR Calibration and Refinement Method in Road Scene](https://mlsanity.com/paper/2203.03182/) (2022)
- [BEVCALIB: LiDAR-Camera Calibration via Geometry-Guided Bird's-Eye View Representations](https://mlsanity.com/paper/2506.02587/) (2025)
- [TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis](https://mlsanity.com/paper/2202.13847/) (2022)
- [PseudoCal: Towards Initialisation-Free Deep Learning-Based Camera-LiDAR Self-Calibration](https://mlsanity.com/paper/2309.09855/) (2023)
- [P2O-Calib: Camera-LiDAR Calibration Using Point-Pair Spatial Occlusion Relationship](https://mlsanity.com/paper/2311.02413/) (2023)
- [What Really Matters for Learning-based LiDAR-Camera Calibration](https://mlsanity.com/paper/2501.16969/) (2025)
- [Robust LiDAR-Camera Calibration with 2D Gaussian Splatting](https://mlsanity.com/paper/2504.00525/) (2025)
- [Non-learning Stereo-aided Depth Completion under Mis-projection via Selective Stereo Matching](https://mlsanity.com/paper/2210.01436/) (2022)
- [IRisPath: Enhancing Costmap for Off-Road Navigation with Robust IR-RGB Fusion for Improved Day and Night Traversability](https://mlsanity.com/paper/2412.03173/) (2024)

## Abstract (arXiv)

In this paper, we propose a method of targetless and automatic Camera-LiDAR calibration. Our approach is an extension of hand-eye calibration framework to 2D-3D calibration. By using the sensor fusion odometry method, the scaled camera motions are calculated with high accuracy. In addition to this, we clarify the suitable motion for this calibration method. The proposed method only requires the three-dimensional point cloud and the camera image and does not need other information such as reflectance of LiDAR and to give initial extrinsic parameter. In the experiments, we demonstrate our method using several sensor configurations in indoor and outdoor scenes to verify the effectiveness. The accuracy of our method achieves more than other comparable state-of-the-art methods.