# Galibr: Targetless LiDAR-Camera Extrinsic Calibration Method via Ground Plane Initialization

arXiv: https://arxiv.org/abs/2406.11599 · HTML: https://mlsanity.com/paper/2406.11599/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 11 of its 27 references that are in the map.
- First posted on arXiv 14 Jun 2024.

## Builds on (most cited first, 11 of 11)

- [Pixel-level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments](https://mlsanity.com/paper/2103.01627/) (2021)
- [General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration Toolbox](https://mlsanity.com/paper/2302.05094/) (2023)
- [ViViD++: Vision for Visibility Dataset](https://mlsanity.com/paper/2204.06183/) (2022)
- [Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups](https://mlsanity.com/paper/2101.04431/) (2021)
- [ELSED: Enhanced Line SEgment Drawing](https://mlsanity.com/paper/2108.03144/) (2021)
- [UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping](https://mlsanity.com/paper/2112.13515/) (2021)
- [Quatro++: Robust Global Registration Exploiting Ground Segmentation for Loop Closing in LiDAR SLAM](https://mlsanity.com/paper/2311.00928/) (2023)
- [TRAVEL: Traversable Ground and Above-Ground Object Segmentation Using Graph Representation of 3D LiDAR Scans](https://mlsanity.com/paper/2206.03190/) (2022)
- [Targetless Extrinsic Calibration of Multiple Small FoV LiDARs and Cameras using Adaptive Voxelization](https://mlsanity.com/paper/2109.06550/) (2021)
- [AdaLIO: Robust Adaptive LiDAR-Inertial Odometry in Degenerate Indoor Environments](https://mlsanity.com/paper/2304.12577/) (2023)
- [P2O-Calib: Camera-LiDAR Calibration Using Point-Pair Spatial Occlusion Relationship](https://mlsanity.com/paper/2311.02413/) (2023)

## Built on by (most cited first, 1 of 1)

- [LiDAR Point Cloud Colourisation Using Multi-Camera Fusion and Low-Light Image Enhancement](https://mlsanity.com/paper/2509.25859/) (2025)

## Abstract (arXiv)

With the rapid development of autonomous driving and SLAM technology, the performance of autonomous systems using multimodal sensors highly relies on accurate extrinsic calibration. Addressing the need for a convenient, maintenance-friendly calibration process in any natural environment, this paper introduces Galibr, a fully automatic targetless LiDAR-camera extrinsic calibration tool designed for ground vehicle platforms in any natural setting. The method utilizes the ground planes and edge information from both LiDAR and camera inputs, streamlining the calibration process. It encompasses two main steps: an initial pose estimation algorithm based on ground planes (GP-init), and a refinement phase through edge extraction and matching. Our approach significantly enhances calibration performance, primarily attributed to our novel initial pose estimation method, as demonstrated in unstructured natural environments, including on the KITTI dataset and the KAIST quadruped dataset.