LiDAR-Camera Extrinsic Calibration on KITTI Odometry Sequence 01
0.195Error (Rotation)CLAIM-4F*
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| CLAIM-4F*Frame Setting=MF2025.12 | 0.195 | 0.073 | |
| CLAIM-4FFrame Setting=MF2025.12 | 0.268 | 0.115 | |
| DST-Calib (PE+SB*)Initial Range=2*[±30°, ±0.5m]2026.01 | 0.435 | 0.1 | |
| CLAIMFrame Setting=SF2025.12 | 0.5 | 0.198 | |
| DST-Calib (SB*)Initial Range=2*[±5°, ±0.5m]2026.01 | 0.517 | 0.084 | |
| MIAS-LCECInitial Range=-2026.01 | 0.621 | 0.3 | |
| MIAS-LCECFrame Setting=SF2025.12 | 0.621 | 0.3 | |
| CRLFInitial Range=-2026.01 | 0.623 | 7.363 | |
| CRLFFrame Setting=SF2025.12 | 0.623 | 7.363 | |
| DST-Calib (SB)Initial Range=2*[±5°, ±0.5m]2026.01 | 0.651 | 0.136 | |
| DST-Calib (DB)Initial Range=2*[±5°, ±0.5m]2026.01 | 0.706 | 0.132 | |
| DST-Calib (SB*)Initial Range=2*[±10°, ±1.0m]2026.01 | 0.87 | 0.142 | |
| DST-Calib (SB)Initial Range=2*[±10°, ±1.0m]2026.01 | 1.126 | 0.263 | |
| DST-Calib (DB)Initial Range=2*[±10°, ±1.0m]2026.01 | 1.343 | 0.262 | |
| DST-Calib (PE)Initial Range=2*[±30°, ±0.5m]2026.01 | 1.365 | 0.2 | |
| UMichInitial Range=-2026.01 | 2.196 | 0.305 | |
| UMichFrame Setting=SF2025.12 | 2.196 | 0.305 | |
| EdO-LCECInitial Range=-2026.01 | 2.269 | 0.459 | |
| EdO-LCECFrame Setting=MF2025.12 | 2.269 | 0.459 | |
| HKU-MarsInitial Range=-2026.01 | 20.73 | 3.77 | |
| HKU-MarsFrame Setting=SF2025.12 | 20.73 | 3.77 | |
| DVLInitial Range=-2026.01 | 112 | 2.514 | |
| DVLFrame Setting=SF2025.12 | 112 | 2.514 |