Camera-LiDAR Extrinsic Calibration on nuScenes
0.299Rotation RMSECalibDepth
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| CalibDepthRange=15° 15cm2026.03 | 0.299 | 0.15 | 3.326 | 1.381 | 48.9 | 79.14 | |
| CalibDepthRange=10° 50cm2026.03 | 0.363 | 0.182 | 5.711 | 2.222 | 27.77 | 54.38 | |
| OursRange=15° 15cm2026.03 | 0.366 | 0.185 | 0.506 | 0.246 | 97.89 | 99.93 | |
| OursRange=10° 25cm2026.03 | 0.392 | 0.194 | 0.526 | 0.257 | 97.18 | 99.7 | |
| CalibDepthRange=10° 25cm2026.03 | 0.393 | 0.196 | 3.778 | 1.583 | 41.26 | 74.1 | |
| OursRange=10° 50cm2026.03 | 0.595 | 0.299 | 0.775 | 0.382 | 89.81 | 99.16 | |
| LCCRAFTRange=10° 25cm2026.03 | 0.636 | 0.251 | 5.629 | 2.308 | 24.78 | 55.01 | |
| LCCRAFTRange=15° 15cm2026.03 | 0.708 | 0.275 | 5.57 | 2.286 | 27.09 | 57.52 | |
| LCCRAFTRange=10° 50cm2026.03 | 0.937 | 0.365 | 7.407 | 3.203 | 13.72 | 40.14 | |
| CalibNetRange=10° 25cm2026.03 | 2.098 | 0.888 | 6.336 | 2.897 | 8.37 | 35.86 | |
| CalibNetRange=15° 15cm2026.03 | 2.121 | 0.896 | 6.335 | 2.9 | 8.24 | 35.04 | |
| LCCNetRange=15° 15cm2026.03 | 2.344 | 1.005 | 5.588 | 2.642 | 13.65 | 41.91 | |
| LCCNetRange=10° 25cm2026.03 | 2.406 | 1.037 | 5.858 | 2.781 | 13.55 | 41.54 | |
| CalibNetRange=10° 50cm2026.03 | 2.47 | 1.023 | 8.783 | 3.987 | 4.01 | 20.94 | |
| LCCNetRange=10° 50cm2026.03 | 2.829 | 1.212 | 7.559 | 3.596 | 6.97 | 29.41 | |
| CoFiI2PRange=10° 50cm2026.03 | 3.743 | 1.766 | 54.16 | 26.31 | 0 | 0 | |
| CoFiI2PRange=10° 25cm2026.03 | 3.843 | 1.863 | 104.6 | 49.77 | 0 | 0 | |
| RGGNetRange=10° 25cm2026.03 | 3.949 | 1.558 | 6.028 | 2.853 | 5.21 | 18.3 | |
| RGGNetRange=15° 15cm2026.03 | 4.205 | 1.756 | 6.063 | 2.879 | 4.61 | 17.35 | |
| CalibAnythingRange=10° 25cm2026.03 | 4.734 | 2.477 | 11.94 | 6.253 | 1.74 | 5.73 | |
| CalibAnythingRange=10° 50cm2026.03 | 4.734 | 2.477 | 23.88 | 12.51 | 0.52 | 3.47 | |
| CoFiI2PRange=15° 15cm2026.03 | 5.085 | 2.504 | 179.2 | 81.67 | 0 | 0 | |
| RGGNetRange=10° 50cm2026.03 | 5.827 | 2.707 | 7.25 | 3.771 | 2.32 | 8.47 | |
| CalibAnythingRange=15° 15cm2026.03 | 7.512 | 3.895 | 7.24 | 3.773 | 0.52 | 3.3 | |
| DirectCalibRange=10° 50cm2026.03 | 12.74 | 6.209 | 359 | 169 | 0 | 0.33 | |
| DirectCalibRange=10° 25cm2026.03 | 13.25 | 6.225 | 267.6 | 122.7 | 0.17 | 0.17 | |
| DirectCalibRange=15° 15cm2026.03 | 14.89 | 7.182 | 451.8 | 212.4 | 0 | 0.17 |