LiDAR-Camera Extrinsic Calibration on KITTI Odometry Sequence 04
0.19Rotation ErrorCLAIM-4F*
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| CLAIM-4F*Frame Setting=MF2025.12 | 0.19 | 0.044 | |
| CLAIM-4FFrame Setting=MF2025.12 | 0.234 | 0.055 | |
| CLAIMFrame Setting=SF2025.12 | 0.321 | 0.094 | |
| DST-Calib (SB*)Initial Range=2*[±5°, ±0.5m]2026.01 | 0.382 | 0.068 | |
| DST-Calib (SB)Initial Range=2*[±5°, ±0.5m]2026.01 | 0.424 | 0.092 | |
| DST-Calib (SB*)Initial Range=2*[±10°, ±1.0m]2026.01 | 0.552 | 0.162 | |
| DST-Calib (DB)Initial Range=2*[±5°, ±0.5m]2026.01 | 0.576 | 0.114 | |
| CRLFInitial Range=-2026.01 | 0.601 | 0.372 | |
| CRLFFrame Setting=SF2025.12 | 0.601 | 0.372 | |
| DST-Calib (SB)Initial Range=2*[±10°, ±1.0m]2026.01 | 0.671 | 0.183 | |
| MIAS-LCECInitial Range=-2026.01 | 0.816 | 0.369 | |
| MIAS-LCECFrame Setting=SF2025.12 | 0.816 | 0.369 | |
| DST-Calib (PE+SB*)Initial Range=2*[±30°, ±0.5m]2026.01 | 0.912 | 0.105 | |
| EdO-LCECInitial Range=-2026.01 | 1.104 | 0.339 | |
| EdO-LCECFrame Setting=MF2025.12 | 1.104 | 0.339 | |
| DST-Calib (DB)Initial Range=2*[±10°, ±1.0m]2026.01 | 1.263 | 0.208 | |
| UMichInitial Range=-2026.01 | 2.086 | 0.348 | |
| UMichFrame Setting=SF2025.12 | 2.086 | 0.348 | |
| DST-Calib (PE)Initial Range=2*[±30°, ±0.5m]2026.01 | 2.313 | 0.182 | |
| HKU-MarsInitial Range=-2026.01 | 4.943 | 0.965 | |
| HKU-MarsFrame Setting=SF2025.12 | 4.943 | 0.965 | |
| DVLInitial Range=-2026.01 | 113.5 | 4.871 | |
| DVLFrame Setting=SF2025.12 | 113.5 | 4.871 |