Calibration of VLP-16 Lidar and multi-view cameras using a ball for 360 degree 3D color map acquisition

Calibration between Lidar sensor and RGB cameras can be applied to various fields such as object recognition and tracking, 2D-3D mapping, and simultaneous localization and mapping (SLAM). Different methods for calibrating Lidar sensor and RGB cameras have been proposed using special 3D markers or calibration patterns. However, most of these methods have disadvantages of longer processing time, and various experimental constraints such as entire calibration pattern must appear within the scan range of the Lidar. In this paper, we propose a simple and fast calibration method between a Lidar sensor and multiple RGB cameras using a sphere object.