There's a general procedure for estimating projection transformation between camera and 3d LiDAR but there's a secondary problem which is associating pixels with depths in a grid which isn't uniformly sampled.

What is the correct approach to doing this? Both the pre and post transformed depth points lack a grid structure. The pre-transformed points lack a grid structure because the sampling is time- instead of angle-based so you get variations in the angles. The post-transformed grid is obviously not going to be uniformly sampled either.

  • $\begingroup$ Define your terms first. Otherwise, nobody will understand your question. $\endgroup$ Nov 17, 2021 at 3:35
  • 1
    $\begingroup$ Your problem is typically called ray casting. Back projecting the grid to the camera coordinate will work too. $\endgroup$ Nov 17, 2021 at 3:35


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Browse other questions tagged or ask your own question.