# EdgeCalib: Multi-Frame Weighted Edge Features for Automatic Targetless LiDAR-Camera Calibration

arXiv: https://arxiv.org/abs/2310.16629 · HTML: https://mlsanity.com/paper/2310.16629/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 7 of its 31 references that are in the map.
- First posted on arXiv 25 Oct 2023.

## Builds on (most cited first, 7 of 7)

- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Tracking Anything with Decoupled Video Segmentation](https://mlsanity.com/paper/2309.03903/) (2023)
- [Pixel-level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments](https://mlsanity.com/paper/2103.01627/) (2021)
- [VPFNet: Improving 3D Object Detection with Virtual Point based LiDAR and Stereo Data Fusion](https://mlsanity.com/paper/2111.14382/) (2021)
- [Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences](https://mlsanity.com/paper/2004.00740/) (2020)
- [LIMO: Lidar-Monocular Visual Odometry](https://mlsanity.com/paper/1807.07524/) (2018)
- [SOIC: Semantic Online Initialization and Calibration for LiDAR and Camera](https://mlsanity.com/paper/2003.04260/) (2020)

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

- [MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes](https://mlsanity.com/paper/2404.04026/) (2024)
- [CalibRefine: Deep Learning-Based Online Automatic Targetless LiDAR-Camera Calibration with Iterative and Attention-Driven Post-Refinement](https://mlsanity.com/paper/2502.17648/) (2025)

## Abstract (arXiv)

In multimodal perception systems, achieving precise extrinsic calibration between LiDAR and camera is of critical importance. Previous calibration methods often required specific targets or manual adjustments, making them both labor-intensive and costly. Online calibration methods based on features have been proposed, but these methods encounter challenges such as imprecise feature extraction, unreliable cross-modality associations, and high scene-specific requirements. To address this, we introduce an edge-based approach for automatic online calibration of LiDAR and cameras in real-world scenarios. The edge features, which are prevalent in various environments, are aligned in both images and point clouds to determine the extrinsic parameters. Specifically, stable and robust image edge features are extracted using a SAM-based method and the edge features extracted from the point cloud are weighted through a multi-frame weighting strategy for feature filtering. Finally, accurate extrinsic parameters are optimized based on edge correspondence constraints. We conducted evaluations on both the KITTI dataset and our dataset. The results show a state-of-the-art rotation accuracy of 0.086deg and a translation accuracy of 0.977 cm, outperforming existing edge-based calibration methods in both precision and robustness.