Automatic cross calibration between image and lidar
This is a reference implementation of mutual information (MI) based algorithm for automatic extrinsic calibration of a 3D laser scanner and optical camera system in python. You can find specific details in the original paper:
"Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information." in AAAI, special track on robotics, July 2012, Toronto, Canada.
Only grid search implementation is included for now.