An Automated Single-Shot LiDAR and Camera Extrinsic Calibration Method Using Image Processing

Paper

Ranasinghe, Pasindu, Patra, Dibyayan, Banerjee, Bikram and Raval, Simit. 2025. "An Automated Single-Shot LiDAR and Camera Extrinsic Calibration Method Using Image Processing." IGARSS 2025 - 2025 IEEE International Geoscience and Remote Sensing Symposium. Brisbane, Australia 03 - 08 Aug 2025 Australia. IEEE (Institute of Electrical and Electronics Engineers). https://doi.org/10.1109/IGARSS55030.2025.11242429
Paper/Presentation Title

An Automated Single-Shot LiDAR and Camera Extrinsic Calibration Method Using Image Processing

Presentation TypePaper
AuthorsRanasinghe, Pasindu, Patra, Dibyayan, Banerjee, Bikram and Raval, Simit
Journal or Proceedings TitleProceedings of IGARSS 2025 - 2025 IEEE International Geoscience and Remote Sensing Symposium
Journal Citationpp. 5099-5102
Number of Pages4
Year2025
PublisherIEEE (Institute of Electrical and Electronics Engineers)
Place of PublicationAustralia
ISBN9798331508104
9798331508111
Digital Object Identifier (DOI)https://doi.org/10.1109/IGARSS55030.2025.11242429
Web Address (URL) of Paperhttps://ieeexplore.ieee.org/document/11242429
Web Address (URL) of Conference Proceedingshttps://ieeexplore.ieee.org/xpl/conhome/11242230/proceeding
Conference/EventIGARSS 2025 - 2025 IEEE International Geoscience and Remote Sensing Symposium
Event Details
IGARSS 2025 - 2025 IEEE International Geoscience and Remote Sensing Symposium
Parent
IEEE International Geoscience and Remote Sensing Symposium
Delivery
In person
Event Date
03 to end of 08 Aug 2025
Event Location
Brisbane, Australia
Event Venue
Brisbane Convention & Exhibition Centre
Event Web Address (URL)
Abstract

LiDAR and cameras have become primary sensors for environmental perception in the recent past, providing complementary depth and visual information. Accurate extrinsic calibration between these sensors is essential for effective sensor fusion. This paper presents a fully automated, robust, and generalisable method to estimate the LiDAR-camera transformation using a simple and efficient pipeline. Unlike traditional methods, requiring specific scenes or multiple captures, our approach uses only a single point cloud and corresponding image. The LiDAR point cloud is projected into a 2D intensity image, where a custom algorithm aligns the coordinate frames of both sensors. The proposed method achieves near-pixel reprojection accuracy (1.06 pixels) with rapid execution time (<10 seconds) in a single pass. Additionally, developed with minimal dependencies, it is lightweight, easy to deploy, and customisable for various applications.

KeywordsLiDAR-camera calibration; single-shot; image processing; sensor fusion
Article Publishing Charge (APC) FundingProject Funding
Contains Sensitive ContentDoes not contain sensitive content
ANZSRC Field of Research 2020400999. Electronics, sensors and digital hardware not elsewhere classified
401304. Photogrammetry and remote sensing
401905. Mining engineering
Public Notes

The accessible file is the accepted version of the paper. Please refer to the URL for the published version.

Byline AffiliationsUniversity of New South Wales
School of Science, Engineering & Digital Technologies- Surveying & Built Env
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