LiDAR-Camera Extrinsic Calibration on KITTI Odometry Sequence 09
0.232Error Rotation (er)CLAIM-4F*
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| CLAIM-4F*Frame Setting=MF2025.12 | 0.232 | 0.046 | |
| DST-Calib (SB*)Initial Range=2*[±5°, ±0.5m]2026.01 | 0.273 | 0.055 | |
| CLAIM-4FFrame Setting=MF2025.12 | 0.283 | 0.054 | |
| EdO-LCECInitial Range=-2026.01 | 0.386 | 0.12 | |
| EdO-LCECFrame Setting=MF2025.12 | 0.386 | 0.12 | |
| DST-Calib (SB)Initial Range=2*[±5°, ±0.5m]2026.01 | 0.421 | 0.088 | |
| CLAIMFrame Setting=SF2025.12 | 0.43 | 0.1 | |
| DST-Calib (PE+SB*)Initial Range=2*[±30°, ±0.5m]2026.01 | 0.447 | 0.092 | |
| DST-Calib (SB*)Initial Range=2*[±10°, ±1.0m]2026.01 | 0.548 | 0.143 | |
| DST-Calib (DB)Initial Range=2*[±5°, ±0.5m]2026.01 | 0.559 | 0.109 | |
| CRLFInitial Range=-2026.01 | 0.626 | 5.133 | |
| CRLFFrame Setting=SF2025.12 | 0.626 | 5.133 | |
| DST-Calib (SB)Initial Range=2*[±10°, ±1.0m]2026.01 | 0.657 | 0.16 | |
| MIAS-LCECInitial Range=-2026.01 | 0.998 | 0.432 | |
| MIAS-LCECFrame Setting=SF2025.12 | 0.998 | 0.432 | |
| DST-Calib (DB)Initial Range=2*[±10°, ±1.0m]2026.01 | 1.207 | 0.202 | |
| DST-Calib (PE)Initial Range=2*[±30°, ±0.5m]2026.01 | 1.239 | 0.195 | |
| UMichInitial Range=-2026.01 | 3.117 | 0.363 | |
| UMichFrame Setting=SF2025.12 | 3.117 | 0.363 | |
| HKU-MarsInitial Range=-2026.01 | 20.38 | 3.459 | |
| HKU-MarsFrame Setting=SF2025.12 | 20.38 | 3.459 | |
| DVLInitial Range=-2026.01 | 116.7 | 3.931 | |
| DVLFrame Setting=SF2025.12 | 116.7 | 3.931 |