Simulation study of LiDAR calibration with respect to camera using point and plane constraints

This letter presents a simulation study on the calibration of 3D light detection and ranging (LiDAR) with respect to a camera with point-to-point and point-on-plane correspondences for calibration constraints. It is an extension of the previously proposed 2D LiDAR calibration methods. The calibration performance is examined with different constraints and scan views/resolutions in the presence of sensor noise. This examination is likely to help users effectively utilize various sensors or targets and obtain datasets. As a result, the combination of the point and plane constraints yields a better performance than either of these individually.