cam_lidar_fusion

Simultaneously Calibration camere and lidar's extrins parameter, and project point cloud on image.

TODO:

• [ ] camera's front-end
• [X] lidar's front-end // Use A-LOAM
• [ ] construct non-linear calib problem.
• [X] projection[kitti_dataset.]:

usage

Currentely I have calibrate camera and lidar by this ros package.

After calib, I implement an enhanced yolo detection result -- result with xyz coordinate in camera coordinates.

Here's the work on KITTI dataset(I am still constructing it.)

Related paper

LiDAR and Camera Calibration using Motion Estimated by Sensor Fusion Odometry