1秒内完成激光雷达与相机外参标定，精度超6.5毫米。
FAST-Calib: LiDAR-Camera Extrinsic Calibration in One Second
- 用定制3D靶标结合边缘提取算法，适配多种激光雷达。
- 点对点注册误差低于6.5毫米，总处理时间不足0.7秒。
- 支持多场景联合优化，开源代码助力机器人研发。
本文提出FAST-Calib，一种基于定制3D靶标的快速、易用的激光雷达-相机外参标定工具。该方法通过不受激光雷达扫描模式影响的高效可靠边缘提取算法，兼容机械式与固态激光雷达，并利用椭圆拟合补偿激光点扩散导致的边缘膨胀。同时支持跨多场景联合优化。在三种激光雷达（Ouster、Avia、Mid360）分别搭配广角相机的实验中，结果表明其精度和鲁棒性优于现有方法：点对点注册误差始终低于6.5mm，总处理时间低于0.7s。本工作已开源代码与数据集，供机器人领域使用。
原文摘要 · Abstract (English)
This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-state LiDARs by leveraging an efficient and reliable edge extraction algorithm that is agnostic to LiDAR scan patterns. It also compensates for edge dilation artifacts caused by LiDAR spot spread through ellipse fitting, and supports joint optimization across multiple scenes. We validate FAST-Calib on three LiDAR models (Ouster, Avia, and Mid360), each paired with a wide-angle camera. Experimental results demonstrate superior accuracy and robustness compared to existing methods. With point-to-point registration errors consistently below 6.5mm and total processing time under 0.7s, FAST-Calib provides an efficient, accurate, and target-based automatic calibration pipeline. We have open-sourced our code and dataset on GitHub to benefit the robotics community.
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