# Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment

arXiv: https://arxiv.org/abs/2308.12629 · HTML: https://mlsanity.com/paper/2308.12629/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Aug 2023.

## Built on by (most cited first, 5 of 5)

- [UniCal: Unified Neural Sensor Calibration](https://mlsanity.com/paper/2409.18953/) (2024)
- [Iterative Camera-LiDAR Extrinsic Optimization via Surrogate Diffusion](https://mlsanity.com/paper/2411.10936/) (2024)
- [Iterative Camera-LiDAR Extrinsic Optimization via Surrogate Diffusion](https://mlsanity.com/paper/2506.14706/) (2025)
- [Joint Target-Less Intrinsic and Extrinsic Camera-LiDAR Calibration using Deep Point Correspondences](https://mlsanity.com/paper/2605.23397/) (2026)
- [Joint Multi-Camera LiDAR Extrinsic Calibration via Learned Pairwise Initialization and Geometric Refinement](https://mlsanity.com/paper/2605.31576/) (2026)

## Abstract (arXiv)

This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method leverages LiDAR point cloud measurements from planes in the scene, alongside visual points derived from those planes. The core novelty of our method lies in the integration of visual BA with the registration between visual points and LiDAR point cloud planes, which is formulated as a unified optimization problem. This formulation achieves concurrent intrinsic and extrinsic calibration, while also imparting depth constraints to the visual points to enhance the accuracy of intrinsic calibration. Experiments are conducted on both public data sequences and self-collected dataset. The results showcase that our approach not only surpasses other state-of-the-art (SOTA) methods but also maintains remarkable calibration accuracy even within challenging environments. For the benefits of the robotics community, we have open sourced our codes.