SensorX2car

SensorX2car is a calibration toolbox for the online calibration of sensor-to-car coordinate systems in road scenes, which contains four commonly used sensors (pose_sensor (IMU + GNSS), LiDAR (Light Detection and Ranging), Camera, and millimeter-wave Radar) for autonomous driving.

calibration param	calibration type	calibration method	mannual calibration	auto calibration	usage documentation
camera2car	extrinsic	target-less	✔	✔	camera2car
lidar2car	extrinsic	target-less		✔	lidar2car
pose_sensor2car	extrinsic	target-less		✔	pose_sensor2car
radar2car	extrinsic	target-less		✔	radar2car

Citation

If you find this project useful in your research, please consider cite:

@misc{2301.07279,
Author = {Guohang Yan and Zhaotong Luo and Zhuochun Liu and Yikang Li},
Title = {SensorX2car: Sensors-to-car calibration for autonomous driving in road scenarios},
Year = {2023},
Eprint = {arXiv:2301.07279},
}