Joint Target-Less Intrinsic and Extrinsic Camera-LiDAR Calibration using Deep Point Correspondences
Authors: Simon Bultmann, Daniele Cattaneo, Abhinav Valada
Organizations: Department of Computer Science, University of Freiburg, Germany
Abstract
Accurate camera-LiDAR calibration is a prerequisite for robust multi-modal perception in robotics. Recent target-less approaches based on deep point correspondences achieve remarkable performance for extrinsic calibration but assume rectified images with known intrinsics. In this work, we overcome this limitation and present the first fully target-less pipeline that jointly estimates camera intrinsics (pinhole model with radial-tangential distortion) and camera-LiDAR extrinsics with deep pixel-point correspondences. Our approach extends deep correspondence-based calibration by (i) automatic intrinsic initialization via structure-from-motion, (ii) generalizing camera-LiDAR matching to raw images with unknown intrinsics including distortion, and (iii) tightly coupling correspondence estimation with joint nonlinear optimization over both intrinsics and extrinsics. We evaluate our method on the KITTI dataset with unseen camera-LiDAR pairs and demonstrate that joint calibration achieves improved extrinsic accuracy while additionally recovering accurate intrinsics.
Target-based LiDAR-camera extrinsic calibration is a prerequisite for multi-sensor fusion in robotics. However, in the widely adopted four-hole pipeline, calibration accuracy is bottlenecked by LiDAR-side hole-center extraction, which suffers from sparse angular coverage and mixed-pixel corruption. This paper presents P2Calib, which exploits pattern priors, geometric constraints specified by the CAD model of the target board, to improve calibration accuracy. First, we incorporate the known hole radius as a fitting constraint to prevent center estimates from degrading under sparse angular coverage. Building on the improved hole estimates, we further enforce the rigid rectangular layout of the four holes as a global consistency constraint to correct residual errors across holes. Both priors are integrated into an interactive calibration tool that provides a complete extrinsic calibration pipeline. Experiments on simulated and real datasets show that P2Calib lowers the joint registration residual by 90% and 82% and the held-out reprojection error by 96% and 77% over the baseline. Code, https://github.com/JokerJohn/P2Calib.git, and data will be released to facilitate future research.
Most learning-based camera-LiDAR calibration methods treat each camera-LiDAR pair independently, ignoring the rigid geometric coupling in multi-camera platforms. As a result, per-camera estimates may be individually accurate yet inconsistent at the system level. We present a two-stage framework for joint multi-camera LiDAR extrinsic calibration that combines learned pairwise matching with geometric refinement. First, CMRNext is applied independently to each camera to produce initial extrinsic estimates and dense 2D-3D correspondences. These predictions are then jointly refined through a multi-frame bundle adjustment with reprojection, per-camera prior, and relative-pose prior terms. This approach converts pairwise predictions into a globally consistent multi-camera calibration. Experiments on KITTI (in-domain for CMRNext) and Walkley (out-of-domain) datasets show improved per-camera accuracy and inter-camera consistency. On KITTI, the method achieves 0.89 cm translation error and 0.038 rotation error. On Walkley, it reduces translation error from 108.6 cm to 3.1 cm, highlighting the benefit of explicit multi-camera coupling when single-camera predictions are less reliable.
We present LV-Calib, a calibration framework for LiDAR-camera extrinsic estimation and LiDAR boundary-response calibration using a printable planar target. The target serves as a shared observation carrier: visual fiducials provide indexed image measurements, while circular reflectivity boundaries provide LiDAR-observable structural feature points. Instead of directly fitting boundary points as ideal geometric contours, LV-Calib automatically crops background points, estimates the target plane, and iteratively refines accurate LiDAR-side 3-D feature points from intensity and geometric constraints. The refinement explicitly handles the broadened and distorted transition band induced by finite beam footprint and mixed-intensity returns around black-white reflectivity discontinuities. Given these refined LiDAR features, we formulate a weighted reprojection-consistent extrinsic optimization with LiDAR feature alignment, where image observations are kept in the reprojection domain and LiDAR feature residuals are weighted by refinement confidence. Finally, using the estimated extrinsic and the extracted transition band, LV-Calib calibrates the LiDAR boundary response by estimating pitch-yaw-range residual statistics of boundary-overlap samples. Experiments on printed-board calibration data demonstrate sub-pixel reprojection accuracy, millimeter-level LiDAR feature consistency, and improved odometry performance. Code and calibration data will be released for reproducible evaluation.