OpenCalib: A multi-sensor calibration toolbox for autonomous driving
Guohang Yan, Zhuochun Liu, Chengjie Wang, Chunlei Shi, Pengjin Wei, Xinyu Cai, Tao Ma, Zhizheng Liu, Zebin Zhong, Yuqian Liu, Ming Zhao, Zheng Ma, Yikang Li
Abstract
Accurate sensor calibration is a prerequisite for autonomous vehicles’ multi-sensor perception. Even though there are many open-source projects related to sensor calibration, most are designed for a specific sensor or application scenario. To this end, we propose OpenCalib, a toolbox with a rich set of sensor calibration methods for autonomous driving vehicles. OpenCalib covers the most commonly used sensors, including LiDAR, Camera, IMU, Radar, and different application scenarios, including road-scene-based manual & automatic calibration, calibration on the production-line, and online calibration. To the best of our knowledge, OpenCalib is the first full-set open-sourced calibration toolbox specifically designed for autonomous vehicles.