本文匯總了常見的一些單傳感器、多傳感器的標定融合paper、工程代碼，應用于自動駕駛、3D視覺、SLAM等領域，供大家學習參考~

1、相機標定

Online Calibration of Exterior Orientations of a Vehicle-Mounted Surround-View Camera System Calibration of fisheye camera using entrance pupil（魚眼相機）一些開源代碼：https://github.com/VLOGroup/dvs-calibration； https://github.com/gorchard/DVScalibration。

2、單相機在線標定

1、A New Technique of Camera Calibration: A Geometric Approach Based on Principal Lines。 下載：https://arxiv.org/abs/1908.06539v1 2、Traffic Surveillance Camera Calibration by 3D Model Bounding Box Alignment for Accurate Vehicle Speed Measurement 下載：https://arxiv.org/abs/1702.06451v2 3、Autocamera Calibration for traffic surveillance cameras with wide angle lenses 下載：https://arxiv.org/abs/2001.07243v1

3、多相機標定

1、Calibration of Asynchronous Camera Networks: CALICO 下載：https://arxiv.org/abs/1903.06811v2 2、Infrastructure-based Multi-Camera Calibration using Radial Projections 3、 Infrastructure-Based Calibration of a Multi-Camera Rig 4、Leveraging Image-based Localization for Infrastructure-based Calibration of a Multi-camera Rig

4、相機雷達標定

1)Unified Intrinsic and Extrinsic Camera and LiDAR Calibration under Uncertainties（ICRA2020）

2)Analytic Plane Covariances Construction for Precise Planarity-Based Extrinsic Calibration of Camera and LiDAR（ICRA2020）

3)A Novel Calibration Method between a Camera and a 3D LiDAR with Infrared Images（ICRA2020）

4)Online Camera-LiDAR Calibration with Sensor Semantic Information（ICRA2020）

5)Automatic extrinsic calibration between a camera and a 3D Lidar using 3D point and plane correspondences

6)A Novel Method for the Extrinsic Calibration of a 2D Laser Rangefinder and a Camera

下載：https://arxiv.org/abs/1603.04132v4

7)LiDAR and Camera Calibration using Motion Estimated by Sensor Fusion Odometry

下載：https://arxiv.org/abs/1804.05178v1

8)Improvements to Target-Based 3D LiDAR to Camera Calibration

下載：https://arxiv.org/abs/1910.03126v2

9)Targetless Rotational Auto-Calibration of Radar and Camera for Intelligent Transportation Systems

下載：https://arxiv.org/abs/1904.08743v2

10)Semantic sensor fusion: from camera to sparse lidar information

下載：https://arxiv.org/abs/2003.01871v1

11)Automatic online calibration of cameras and lasers

12)Radar and vision sensors calibration for outdoor 3D reconstruction

13)A novel method of spatial calibration for camera and 2D radar based on registration

一些項目代碼： https://github.com/ankitdhall/lidar_camera_calibration; https://github.com/robofit/but_velodyne/tree/master/but_calibration_camera_velodyne.

5、事件相機和Lidar標定

Calibration of Event-based Camera and 3D LiDAR

6、Lidar和雙目相機標定融合

Intersection Safety using Lidar and Stereo sensors https://zhuanlan.zhihu.com/p/147051259

7、激光雷達、Camera、毫米波雷達融合

1)Multiple Sensor Fusion and Classification for Moving Object Detection and Tracking. 2)An Extrinsic Calibration Tool for Radar, Camera and Lidar 3)Extrinsic 6DoF Calibration of 3D LiDAR and Radar 4)Extrinsic 6DoF Calibration of a Radar – LiDAR – Camera System Enhanced by Radar Cross Section Estimates Evaluation

8、IMU標定與融合

IMU內參標定： https://github.com/Kyle-ak/imu_tk; http://www.olliw.eu/2013/imu-data-fusing/;9、Lidar-IMU標定https://github.com/ethz-asl/lidar_align

10、Camera-IMU標定

https://github.com/ethz-asl/kalibr/wiki/calibrating-the-vi-sensor;

https://github.com/ethz-asl/kalibr;

11、2D Lidar標定

Extrinsic Calibration of an Eye-In-Hand 2D LiDAR Sensor in Unstructured Environments Using ICP

12、手眼標定

手眼標定_全面細致的推導過程

手眼標定（九點法）

深入淺出地理解機器人手眼標定

機器人手眼標定MATLAB及C++實現

13、其它

1)AC/DCC : Accurate Calibration of Dynamic Camera Clusters for Visual SLAM 2)A Stable Adaptive Observer for Hard-Iron and Soft-Iron Bias Calibration and Compensation for Two-Axis Magnetometers: Theory and Experimental Evaluation 3)Precise 3D Calibration of Wafer Handling Robot by Visual Detection and Tracking of Elliptic-Shape Wafers 4)Globally Optimal Relative Pose Estimation for Camera on a Selfie Stick 5)Learning Camera Miscalibration Detection 6)Multiple Sensor Fusion and Classification for Moving Object Detection and Tracking

14、優秀博客

多傳感器標定數據融合: https://blog.csdn.net/qq_17256689/article/details/100037699?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromBaidu-2&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromBaidu-2

15、源碼

https://github.com/tudelft-iv/multi_sensor_calibration 本文僅做學術分享，如有侵權，請聯系刪文

責任編輯：xj

原文標題：多傳感器融合標定方法匯總

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