EasyCalib: A Novel Target for High-Accuracy Fully Automatic Extrinsic Calibration of Camera and LiDAR
IEEE Transactions on Instrumentation and Measurement, 2026
Official implementation of EasyCalib, a fully automatic camera-LiDAR extrinsic calibration method with a novel calibration target for high-accuracy sensor alignment.
- PCL >= 1.8
- Eigen3
- Ceres Solver
- OpenCV
- OpenMP
mkdir -p build
cd build
cmake ..
make -j8./build/calib param/avia.yamlExample configuration files:
param/avia.yamlparam/mid360.yamlparam/vlp16.yaml
The calibration result will be written to result/extrinsic.txt.
| Parameter | Description |
|---|---|
data_num |
Number of image and point cloud pairs. At least 6 pairs are recommended. Camera images and LiDAR point clouds should be collected using the customized calibration target, and the sensor pose should be different for each pair. |
image_path |
Directory containing the input images, named as 1, 2, 3, ... |
pcd_path |
Directory containing the point cloud files with matching indices. Only .pcd format is supported. |
ext_file |
Image file extension, such as png or jpg. |
initial_guess_result (optional) |
Initial extrinsic file. In most cases this does not need to be set, because the algorithm will automatically estimate the initial extrinsic parameters. |
If you find this project useful, please consider citing our paper:
@ARTICLE{11495237,
author={Zhou, Zhiyu and Gao, Zhi and Cao, Min and Wang, Jingshi and Li, Yong and Lin, Zhipeng and Yang, Wenbin and Wang, Xiaonan and Zhang, Qiyuan},
journal={IEEE Transactions on Instrumentation and Measurement},
title={EasyCalib: A Novel Target for High-Accuracy Fully Automatic Extrinsic Calibration of Camera and LiDAR},
year={2026},
volume={75},
pages={9519815-9519815},
keywords={Aerospace control;Antenna radiation patterns;Oscillators;Central Processing Unit;Pixel;Radio access networks;Regional area networks;Electronic mail;Digital images;Protocols;Calibration target;extrinsic calibration;light detection and ranging (LiDAR) and camera},
doi={10.1109/TIM.2026.3687975}
}