Multiple 3D LiDARs Extrinsic Parameter Estimation Method Using Plane Features

Multiple LiDAR system has been suggested to many autonomous vehicles because of that LiDAR sensor price was cheaper than the past. It is essential to estimate extrinsic parameters to recognize the surrounding environment. However, it is difficult to extract and matching the features using low channel LiDAR due to the LiDAR resolution problem. In this paper, we propose an algorithm that can estimate extrinsic parameters using low channel LiDAR even without artificial markers. Our method automatically detects the features of the plane around the vehicle and proceeds with calibration. Our method automatically detects the plane features around the vehicle and proceeds with calibration. The proposed algorithm shows accurate calibration results in the experimental vehicle.