LiDAR-Camera Calibration on nuScenes
0.354Rotation Mean (deg)CalibFusion
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| CalibFusionRange=R1 (±10°, ±0.25 m)2026.03 | 0.354 | 0.102 | 0.117 | 0.842 | 18.928 | 18.936 | 17.487 | 20.361 | |
| RC-AutoCalib (Selective Fusion)Fusion Method=Selective Fusion2025.05 | 0.529 | 0.175 | 0.237 | 1.176 | 11.842 | 12.882 | 9.976 | 12.669 | |
| Concat FusionFusion Method=Concatenation2025.05 | 0.575 | 0.209 | 0.284 | 1.232 | 12.315 | 12.863 | 11.416 | 12.667 | |
| Add FusionFusion Method=Add2025.05 | 0.642 | 0.217 | 0.371 | 1.338 | 12.547 | 12.832 | 12.096 | 12.714 | |
| CalibDepthRange=R1 (±10°, ±0.25 m)2026.03 | 0.807 | 0.39 | 0.345 | 1.686 | 12.608 | 12.86 | 12.25 | 12.715 | |
| CalibFusionRange=R2 (±20°, ±1.5 m)2026.03 | 0.852 | 0.302 | 0.395 | 1.239 | 75.459 | 75.156 | 82.631 | 85.1483 | |
| NetCalib2Range=R1 (±10°, ±0.25 m)2026.03 | 1.205 | 0.387 | 2.289 | 0.941 | 12.297 | 12.532 | 12.076 | 12.284 | |
| LCCNet-1Range=R1 (±10°, ±0.25 m)2026.03 | 1.603 | 0.123 | 3.13 | 1.556 | 16.531 | 22.992 | 17.648 | 8.954 | |
| CalibDepthRange=R2 (±20°, ±1.5 m)2026.03 | 1.686 | 1.149 | 0.808 | 3.102 | 55.38 | 77.146 | 12.918 | 76.078 | |
| FineRange=R1 (±10°, ±0.25 m), Calibration Stage=Fine2026.03 | 1.692 | 0.442 | 0.939 | 3.695 | — | — | — | — | |
| LCCNet-5Range=R2 (±20°, ±1.5 m)2026.03 | 1.898 | 0.919 | 2.314 | 2.461 | 88.302 | 74.216 | 85.239 | 105.45 | |
| CoarseRange=R1 (±10°, ±0.25 m), Calibration Stage=Coarse2026.03 | 2.035 | 0.581 | 1.519 | 4.004 | — | — | — | — | |
| LCCNet-3Range=R2 (±20°, ±1.5 m)2026.03 | 2.156 | 1.526 | 2.364 | 2.579 | 89.672 | 71.66 | 89.605 | 107.751 | |
| NetCalib2Range=R2 (±20°, ±1.5 m)2026.03 | 2.778 | 1.465 | 4.688 | 2.18 | 71.037 | 76.001 | 57.204 | 79.906 | |
| FineRange=R2 (±20°, ±1.5 m), Calibration Stage=Fine2026.03 | 3.334 | 1.368 | 1.937 | 6.696 | — | — | — | — | |
| CoarseRange=R2 (±20°, ±1.5 m), Calibration Stage=Coarse2026.03 | 4.388 | 1.866 | 3.251 | 8.048 | — | — | — | — |