The extrinsic calibration is a prerequisite for all perception algorithms and serves as an adjustment check. Accurate calibration values and FoV-adjustments for all sensors as well as continuous “calibration-checks” are credentials for long term test drives.  

So how to go from an uncalibrated setup, as seen in figure 1 (left), to an adjusted and accurately calibrated setup as seen in figure 1 (right)? 

Figure 1: lidar point cloud before/after calibration

Common challenges:
❌ Time consuming processing 
❌ Complicated manual measurements of calibration targets 
❌ Availability of suitable calibration space 
❌ Establishing relation to the “Vehicle-Road-Coordinate-System” 
❌ Calibration of multiple sensors without overlap 
 Calibrating sensors with sparse resolution
 Different methods and tools for different sensors/setups
 Heavy and clumsy targets
 Expensive equipment
 High manual effort

Ibeo manages these challenges with one solution:

Ibeo.CaliGraph is a standalone calibration solution that supports the static extrinsic calibration of lidar sensors. The tool determines the poses of reference- and DuT- sensors within a measurement-vehicle setup. It is designed to be simple, fast, and accurate. All methods, processes and algorithms have been validated and the automated calibration routine ensures an accuracy of <1 𝑐𝑚 (translations) and <0.1° (rotations). The solution supports every lidar sensor in a variety of setups, all of which has been documented in text and video tutorials.

The perks of ibeo.CaliGraph:
✅ Simple setup of calibration scenes
 Easy and fast to use (no extended trainings needed) 
 Fully automated processing 
✅ Diagnose function evaluates results (and prompts to   redo a calibration if necessary) 
✅ Portable targets
✅ Highly accurate 
✅ Derive adjustment instructions 
No expensive equipment needed

Setting up the calibration scene is easy. Simply highlight the vehicle’s axis of symmetry with a line laser and place some wooden targets on the laser beam. The only other prerequisites are a flat ground and enough free space (maximum 4 m x 30 m, depending on the sensor setup) as seen in figure 2. The analysis of a given calibration recording is even more simple. The automated calibration module allows an accurate calibration to VRC* within seconds. The diagnose module performs an adjustment check and evaluates the quality of the calibration results. The manual modules allow an experienced user to carry out any imaginable calibration task, including cross-calibration, absolute calibration to Ground Truth data*, intrinsic sensor calibration any much more.


Figure 2: Overview of supported sensor setups and calibration scenes for a measurement vehicle with different sensors/setups. Those simple target setups mixed with the efficient algorithms of the calibration tool ibeo.CaliGraph ensure accurate calibrations of all automotive lidar sensors.

Find more information and see actual calibrations in our timelapse video or ask our experts:

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