A Comparative Study on Camera-Radar Calibration Methods

Camera-radar fusion has been applied in obstacle detection or moving object tracking for autonomous vehicles and advanced driver assistance systems. When utilizing multiple sensors, their calibration is not only essential but also important because it gives great impacts on subsequent procedures. Nonetheless, camera-radar calibration methods have not been compared in the literature qualitatively or quantitatively. In this paper, we compare three types of the calibration methods presented in previous studies on fusing camera and radar in terms of calibration accuracy. Especially, the comparison is conducted in the situation of varying the number of radar-image data pairs used in their calibration. Experimental results show that one type of the methods is not appropriated to the camera-radar calibration, and the methods belonging to the other types provide quite similar accuracy.