• camera's front-end
• lidar's front-end // Use A-LOAM
• construct non-linear calib problem.
• projection[kitti_dataset.]:

Currentely I have calibrate camera and lidar by this ros package.

After calib, I implement an enhanced yolo detection result -- result with xyz coordinate in camera coordinates.

Here's the work on KITTI dataset(I am still constructing it.)

LiDAR and Camera Calibration using Motion Estimated by Sensor Fusion Odometry