FAST-Calib: LiDAR-Camera Extrinsic Calibration in One Second
Chunran Zheng, Fu Zhang

TL;DR
FAST-Calib is a rapid, accurate, and user-friendly LiDAR-camera extrinsic calibration method that achieves sub-7mm accuracy in under a second using a custom 3D target and robust edge extraction techniques.
Contribution
The paper introduces FAST-Calib, a novel calibration tool that supports various LiDAR types, employs an efficient edge extraction algorithm, and achieves calibration in less than a second.
Findings
Calibration errors below 6.5mm across tested models
Processing time under 0.7 seconds
Validated on three different LiDAR models
Abstract
This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-state LiDARs by leveraging an efficient and reliable edge extraction algorithm that is agnostic to LiDAR scan patterns. It also compensates for edge dilation artifacts caused by LiDAR spot spread through ellipse fitting, and supports joint optimization across multiple scenes. We validate FAST-Calib on three LiDAR models (Ouster, Avia, and Mid360), each paired with a wide-angle camera. Experimental results demonstrate superior accuracy and robustness compared to existing methods. With point-to-point registration errors consistently below 6.5mm and total processing time under 0.7s, FAST-Calib provides an efficient, accurate, and target-based automatic calibration pipeline. We have open-sourced our code and dataset…
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Taxonomy
TopicsOptical measurement and interference techniques · 3D Surveying and Cultural Heritage · Infrared Target Detection Methodologies
