本文深入探讨Camera-to-LiDAR标定的重要性，解析如何通过精确的标定实现传感器数据的有效融合，确保在50米范围内LiDAR点云与图像边缘的一致性，验证标定结果的准确性。
FROM baidu Apollo
标定的目的是为了-，统一坐标系，然后传感器融合用
Camera-to-LiDAR Calibration
- Background Information: In the point cloud projection images, users can see objects and signs with obvious edges and compare the alignment.
- Validation Method: If the target is within 50 meters, its edge of point cloud can coincide一致 with the edge of the image, and the accuracy of the calibration results can be proved to be very high. However, if there is a misplacement, the calibration results are in error. The extrinsic parameter is not available when the error is greater than a certain range (for example, 5 pixels, depending on the actual usage).
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检查融合后的图片--近距离，比如50m内，lidar得到的物体边缘应该很清晰，和图片的应该吻合，如果错位了，说明没有标定好。
- Examples: As shown in the following examples, Figure 4 meets the precision requirements of the extrinsic parameter, and Figure 5 does not.
Figure 4. Good Camera-to-LiDAR Calibration Validation Result
Figure 5. Bad Camera-to-LiDAR Calibration Validation Result
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