ankitdhall/lidar_camera_calibration
ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences" observed · 2026-08-28
Health v2 · maintenance only
44/100
- Activity 47
- Release rhythm 8
- Longevity 100
How is this computed?
round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10) — computed 2026-09-03. Adoption (stars, forks) is never an input.
- gap_med: n/a
- age_days: 3409
- days_rel: n/a
- days_push: 321
- n_releases_24m: 0
Adoption not part of the score
1766 stars · 475 forks observed · 2026-08-28
What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded
A ROS package that computes the rigid-body transformation (rotation and translation) between a LiDAR and a camera using 3D-3D point correspondences, supporting monocular and stereo cameras and Hesai/Velodyne LiDARs. It is the open-source implementation of the paper 'LiDAR-Camera Calibration using 3D-3D Point correspondences' and includes tooling for fusing point clouds from multiple calibrated cameras.
Use cases
- calibrate a velodyne lidar with a camera in ros
- find extrinsic transformation between lidar and camera frames
- fuse point clouds from two stereo cameras
- calibrate hesai lidar with monocular camera
- align lidar point cloud to camera image for autonomous driving
- estimate rotation and translation between lidar and camera using aruco markers
When to choose
- you use ROS/ROS2 with Velodyne or Hesai LiDARs and need camera-LiDAR extrinsics
- you want a closed-form 3D-3D correspondence approach with aruco marker targets
- you need to fuse point clouds from multiple calibrated stereo cameras
When to avoid
- you need targetless or online calibration without markers
- your stack is not ROS-based
- you need LiDAR-IMU or camera-IMU calibration instead
Facets
library · maturity active
computer-vision robotics image-processing robotics autonomous-vehicles computer-vision simulation cpp lidar-camera-calibration ros-package aruco-markers point-cloud extrinsic-calibration velodyne hesai sensor-fusion stereo-camera linux ros
6 sources
- readme: https://github.com/ankitdhall/lidar_camera_calibration · fetched 2026-08-28 · 8a299493a32b
- homepage: http://arxiv.org/abs/1705.09785 · fetched 2026-08-29 · e6878f909885
- site_page: https://info.arxiv.org/about/donate.html · fetched 2026-08-29 · cca9c3a11c56
- site_page: https://info.arxiv.org/about/ourmembers.html · fetched 2026-08-29 · 47cbc55ff1de
- site_page: https://info.arxiv.org/about · fetched 2026-08-29 · a1f16f915a9a
- site_page: https://info.arxiv.org/labs/index.html · fetched 2026-08-29 · b14a8d05a0ec
Member repositories
| Repository | Role | Health v2 |
|---|---|---|
| ankitdhall/lidar_camera_calibration | main | 44 |
For agents
markdown · JSON · MCP: product_card(name="ankitdhall/lidar_camera_calibration")
Data as of 2026-08-30T08:39:29.467469+00:00 · Report a problem