Automatic Targetless Extrinsic Calibration between a Spinning Actuated LiDAR and a Camera

LiDAR and camera are two of the most popular sensors used in many fields such as autonomous driving. The prerequisite for fusing the information provided by the two sensors is the accurate extrinsic parameter between them. However, despite the spinning actuated LiDAR having a larger field of view compared to fixed-mounted LiDAR, most of the current research focuses on the calibration between the fixed-mounted LiDAR and camera. In this paper, an automatic targetless extrinsic calibration framework is proposed for the spinning actuated LiDAR and camera. We first minimize the error inside the point cloud by constructing point-to-plane constraints, and then use the correspondence of edges between the point cloud and the image to achieve the LiDAR-camera calibration. And the experimental results verify the effectiveness of our algorithm.