OpenCalib: A multi-sensor calibration toolbox for autonomous driving

Abstract

Accurate sensor calibration is a prerequisite for autonomous vehicles’ multi-sensor perception. Even though there are many open-source projects related to sensor calibration, most are designed for a specific sensor or application scenario. To this end, we propose OpenCalib, a toolbox with a rich set of sensor calibration methods for autonomous driving vehicles. OpenCalib covers the most commonly used sensors, including LiDAR, Camera, IMU, Radar, and different application scenarios, including road-scene-based manual & automatic calibration, calibration on the production-line, and online calibration. To the best of our knowledge, OpenCalib is the first full-set open-sourced calibration toolbox specifically designed for autonomous vehicles.