Extrinsic Calibration of Multiple 3D LiDAR Sensors by the Use of Planar Objects

Hyunsuk Lee, Woojin Chung

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


Three-dimensional light detection and ranging (LiDAR) sensors have received much attention in the field of autonomous navigation owing to their accurate, robust, and rich geometric information. Autonomous vehicles are typically equipped with multiple 3D LiDARs because there are many commercially available low-cost 3D LiDARs. Extrinsic calibration of multiple LiDAR sensors is essential in order to obtain consistent geometric information. This paper presents a systematic procedure for the extrinsic calibration of multiple 3D LiDAR sensors using plane objects. At least three independent planes are required within the common field of view of the LiDAR sensors. The planes satisfying the condition can easily be found on objects such as the ground, walls, or columns in indoor and outdoor environments. Therefore, the proposed method does not require environmental modifications such as using artificial calibration objects. Multiple LiDARs typically have different viewpoints to reduce blind spots. This situation increases the difficulty of the extrinsic calibration using conventional registration algorithms. We suggest a plane registration method for cases in which correspondences are not known. The entire calibration process can easily be automated using the proposed registration technique. The presented experimental results clearly show that the proposed method generates more accurate extrinsic parameters than conventional point cloud registration methods.

Original languageEnglish
Article number7234
Issue number19
Publication statusPublished - 2022 Oct

Bibliographical note

Funding Information:
This work was partly supported by the Industry Core Technology Development Project, 20005062, Development of Artificial Intelligence Robot Autonomous Navigation Technology for Agile Movement in Crowded Space, funded by the Ministry of Trade, industry & Energy (MOTIE, Republic of Korea), the National Research Foundation of Korea(NRF), MSIP (NRF-2021R1A2C2007908), and Institute of Information & communications Technology Planning & Evaluation (IITP) grant funded by the Korea government(MSIT) (2022-0-01010, Development of an intelligent manufacturing logistics system based on autonomous transport mobile manipulation).

Publisher Copyright:
© 2022 by the authors.


  • extrinsic calibration
  • multiple LiDAR sensors
  • non-linear optimization
  • plane-based registration

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Biochemistry
  • Atomic and Molecular Physics, and Optics
  • Instrumentation
  • Electrical and Electronic Engineering


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