—Sensor setups consisting of a combination of 3Drange scanner lasers and stereo vision systems are becominga popular choice for on-board perception systems in vehicles;however, the combined use of both sources of informationimplies a tedious calibration process. We present a method forextrinsic calibration of lidar-stereo camera pairs without userintervention. Our calibration approach is aimed to cope withthe constraints commonly found in automotive setups, such aslow-resolution and specific sensor poses. To demonstrate theperformance of our method, we also introduce a novel approachfor the quantitative assessment of the calibration results, basedon a simulation environment. Tests using real devices have beenconducted as well, proving the usability of the system and theimprovement over the existing approaches. Code is available athttp://wiki.ros.org/velo2cam calibration.
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