# Spatiotemporal Calibration of Camera and 3D Laser Scanner

arXiv: https://arxiv.org/abs/2006.16081 · HTML: https://mlsanity.com/paper/2006.16081/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 29 Jun 2020.

## Built on by (most cited first, 2 of 2)

- [Continuous-Time Spatiotemporal Calibration of a Rolling Shutter Camera-IMU System](https://mlsanity.com/paper/2108.07200/) (2021)
- [On the descriptive power of LiDAR intensity images for segment-based loop closing in 3-D SLAM](https://mlsanity.com/paper/2108.01383/) (2021)

## Abstract (arXiv)

The multi-sensory setups consisting of the laser scanners and cameras are popular as the measurements complement each other and provide necessary robustness for applications. Under dynamic conditions or when in motion, a direct transformation (spatial calibration) and time offset between sensors (temporal calibration) is needed to determine the correspondence between measurements. We propose an open-source spatiotemporal calibration framework for a camera and a 3D laser scanner. Our solution is based on commonly available chessboard markers requiring one-minute calibration before the operation that offers accurate and repeatable results. The framework is based on batch optimization of point-to-plane constraints with a time offset calibration possible by a novel continuous representation of the plane equations based on a minimal representation in the Lie algebra and the use of B-splines. The framework's properties are evaluated in simulation while correctness is verified with two distinct sensory setups with Velodyne VLP-16 and SICK MRS6124 3D laser scanners.