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Recently LiDAR-camera systems have rapidly emerged in many applications. The integration of laser range-finding technologies into existing vision systems enables a more comprehensive understanding of 3D structure of the environment. The advantage, however, relies on a good geometrical calibration between the LiDAR and the image sensors. In this paper we consider visual odometry, a discipline in computer vision and robotics, in the context of recently emerging online sensory calibration studies. By embedding the online calibration problem into a LiDAR-monocular visual odometry technique, the temporal change of extrinsic parameters can be tracked and compensated effectively.
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Chien et al. (2016) studied this question.