Calibration Method for LiDAR Cameras in Natural Dynamic Environments

The external calibration of sensors has a crucial impact on the accuracy of subsequent integrated navigation. In this paper, an automatic calibration method for a lidar/RGB camera system is proposed under dynamic environmental disturbances without any target present. The theoretical analysis focuses on the characteristics and limitations of edge features, as well as their influence on calibration accuracy. In terms of implementation, the measurement principles of the lidar and camera are analyzed. A projection-based method for dynamic point rejection of the lidar is proposed, and the external calibration of the sensor is achieved using a Bundle Adjustment optimization method based on the edge extraction results of point clouds and images. Since edge features are abundant in natural scenes, the proposed method is evaluated in an indoor scene with dynamic environmental disturbances. The results demonstrate that the proposed method has higher robustness and accuracy than conventional algorithms, achieving good calibration results in the presence of dynamic environmental disturbances.