Efficient Calibration Method of Multiple LiDARs on Autonomous Vehicle Platform

Autonomous vehicles need to use various multiple sensors in order to perform their missions perfectly on outdoor roads. Therefore, it is very important to calibrate the extrinsic parameters to describe the relations between sensor frames with respect to the reference frame. In this paper, we propose an efficient calibration method of multiple LiDARs using a simple rectangular board. For the efficient calibration using a simple rectangular calibration board, we propose an accurate corner point detection method of the calibration board using the iterative Hough transform.