Evaluation of the extrinsic calibration of a camera and LiDAR using dummy camera without IR-cut filter

In this paper, we present the evaluation results of the extrinsic calibration of a camera and LiDAR using a dummy camera without an IR-cut filter. In general, an IR-cut filter is included in a camera to remove the effect of the IR band. If the IR-cut filter is removed from the camera, the true locus of LiDAR could be observed on the image. We evaluated two algorithms that are widely used for the extrinsic calibration of a camera and LiDAR by using the true locus of LiDAR on the dummy camera. After the extrinsic calibration between the camera and LiDAR, we projected the LiDAR data onto the dummy camera using the pose between two cameras. Finally, we evaluated the results of the extrinsic calibration by comparing the projected locus with the true locus. The existing algorithms evaluate the calibration results only by checking the residuals of the used constraints or by simply checking the consistency at the depth discontinuities. In this paper, we present the precise evaluation results obtained using the true locus of the LiDAR.