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The velo2cam_calibration software implements a state-of-the-art automatic calibration algorithm for pair of sensors composed of LiDAR and camera devices in any possible combination, as described in this paper:

Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups

Jorge Beltrán, Carlos Guindel, Arturo de la Escalera, Fernando García

IEEE Transactions on Intelligent Transportation Systems, 2022

[ Paper ] [ Preprint ]



This software is provided as a ROS package. To install:

  1. Clone the repository into your catkin_ws/src/ folder.

  2. Install run dependencies: sudo apt-get install ros-<distro>-opencv-apps

  3. Build your workspace as usual.


See the HOWTO guide for detailed instructions on how to use this software.

To test the algorithm in a virtual environment, you can launch any of the calibration scenarios included in our Gazebo validation suite.

Calibration target

The following picture shows a possible embodiment of the proposed calibration target used by this algorithm and its corresponding dimensional drawing.


Note: Other size may be used for convenience. If so, please configure node parameters accordingly.


If you use this work in your research, please consider citing the following paper:

  author={Beltrán, Jorge and Guindel, Carlos and de la Escalera, Arturo and García, Fernando},  
  journal={IEEE Transactions on Intelligent Transportation Systems},   
  title={Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups},   

A previous version of this tool is available here and was described on this paper.

2024-07-13 14:39