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LiDAR-LiDAR Calibration

Overview

This document provides instructions for calibrating the top laser radar [RS-Helios-16P] and the front blind spot radar [RS-Bpearl] using the lidar-to-lidar calibration tool.

Prerequisites

  • The calibration tool has been installed, as described in Calibration Tool Installation.
  • The following hardware is available:
    • Top laser radar [RS-Helios-16P]
    • Front blind spot radar [RS-Bpearl]

Calibration Steps

Step 1: Select Calibration Site

  • Prepare two 1.8m X 0.9m wooden boards.
  • Place the two wooden boards in the common viewing area of the two lidars.
  • Place the two wooden boards at a 120-degree angle.

If there are no such wooden boards, a corner of a wall can also be used as a reference.

Step 2: Launch the Calibration Program

./calibration_script/lidar2lidar/run_lidar2lidar.sh

Step 3: Check Calibration Results

Observe rviz2. Calibration is complete when the white point cloud and the colored point cloud in the [left view|right view|top view|front view] overlap completely.

  • White point cloud: Top lidar.
  • Colored point cloud: Front blind spot lidar.