LiDAR-to-Camera Calibration on KITTI Odometry Right Camera Sequence 00
0.001Total Angular ErrorStage-1
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Stage-1Init=±1.5m/±20°, N=102026.05 | 0.001 | 5.99 | 0.01 | 0.02 | 0.04 | 5.84 | 0.97 | 0.95 | — | |
| OursInit=±1.5m/±20°, N=102026.05 | 0.03 | 5.17 | 0.01 | 0 | 0.03 | 5.12 | 0.57 | 0.51 | — | |
| OursInit=±1.5m/±20°, N=1002026.05 | 0.03 | 4.97 | 0.01 | 0.01 | 0.01 | 4.88 | 0.67 | 0.71 | — | |
| Joint Target-Less Intrinsic and Extrinsic Camera-LiDAR Calibrationvariant=full, initialization=GT init2026.05 | 0.106 | 2.27 | — | — | — | — | — | — | 1.14 | |
| Joint Target-Less Intrinsic and Extrinsic Camera-LiDAR Calibrationvariant=full, initialization=COLMAP init2026.05 | 0.108 | 2.34 | — | — | — | — | — | — | 1.25 | |
| Stage-1Init=±1.5m/±20°, N=1002026.05 | 0.137 | 6.23 | 0.02 | 0.03 | 0.04 | 6.13 | 0.78 | 0.76 | — | |
| MDPCalib2026.05 | 0.14 | 2.94 | — | — | — | — | — | — | — | |
| CMRNextInit=±1.5m/±20°2026.05 | 0.23 | 7.07 | 0.2 | 0.05 | 0.05 | 2.17 | 5.78 | 0.94 | — | |
| Joint Target-Less Intrinsic and Extrinsic Camera-LiDAR Calibrationvariant=no ppp, initialization=GT init2026.05 | 0.241 | 2.48 | — | — | — | — | — | — | 4.11 | |
| CalibNetInitial Range=[±5°, ±0.5m]2026.01 | 0.665 | 0.304 | 0.356 | 0.481 | 0.103 | 0.298 | 0.016 | 0.036 | — | |
| CalibDNN (No RGB)Initial Range=[±5°, ±0.5m]2026.01 | 0.685 | 0.317 | 0.331 | 0.493 | 0.158 | 0.312 | 0.018 | 0.032 | — | |
| CalibDNNInitial Range=[±5°, ±0.5m]2026.01 | 0.692 | 0.328 | 0.33 | 0.512 | 0.141 | 0.323 | 0.017 | 0.033 | — | |
| CalibNet (No RGB)Initial Range=[±5°, ±0.5m]2026.01 | 0.702 | 0.309 | 0.411 | 0.483 | 0.089 | 0.303 | 0.015 | 0.037 | — | |
| CalibDepthInitial Range=[±5°, ±0.5m]2026.01 | 0.904 | 0.303 | 0.52 | 0.507 | 0.332 | 0.29 | 0.025 | 0.046 | — | |
| CalibDepth (No RGB)Initial Range=[±5°, ±0.5m]2026.01 | 0.913 | 0.305 | 0.526 | 0.505 | 0.333 | 0.293 | 0.024 | 0.045 | — | |
| CalibDepthInitial Range=[±10°, ±1.0m]2026.01 | 1.14 | 0.406 | 0.469 | 0.915 | 0.166 | 0.392 | 0.029 | 0.049 | — | |
| CalibDepth (No RGB)Initial Range=[±10°, ±1.0m]2026.01 | 1.181 | 0.409 | 0.466 | 0.966 | 0.161 | 0.396 | 0.027 | 0.048 | — | |
| CalibNetInitial Range=[±10°, ±1.0m]2026.01 | 1.182 | 0.389 | 0.346 | 1.018 | 0.226 | 0.363 | 0.048 | 0.084 | — | |
| CalibDNN (No RGB)Initial Range=[±10°, ±1.0m]2026.01 | 1.218 | 0.407 | 0.473 | 0.999 | 0.184 | 0.397 | 0.026 | 0.05 | — | |
| CalibDNNInitial Range=[±10°, ±1.0m]2026.01 | 1.238 | 0.405 | 0.48 | 1.01 | 0.195 | 0.396 | 0.026 | 0.05 | — | |
| CalibNet (No RGB)Initial Range=[±10°, ±1.0m]2026.01 | 1.238 | 0.407 | 0.51 | 0.993 | 0.224 | 0.384 | 0.05 | 0.082 | — | |
| LCCNetInit=±1.5m/±20°2026.05 | 1.47 | 52.51 | 0.03 | 1.47 | 0.01 | 52.48 | 0.26 | 0.74 | — | |
| CMRNetInit=±1.5m/±20°2026.05 | 1.49 | 52.92 | 1.49 | 0.02 | 0.04 | 1.59 | 52.87 | 0.36 | — | |
| RGGNetInit=±0.3m/±20°2026.05 | 3.87 | 23.52 | 1.48 | 3.38 | 0.51 | 18.03 | 5.55 | 6.06 | — |