  Recent progress in the automated driving system (ADS) and advanced driver
assistant system (ADAS) has shown that the combined use of 3D light detection
and ranging (LiDAR) and the camera is essential for an intelligent vehicle to
perceive and understand its surroundings. LiDAR-camera fusion requires precise
intrinsic and extrinsic calibrations between the sensors. However, due to the
limitation of the calibration equipment and susceptibility to noise, algorithms
in existing methods tend to fail in finding LiDAR-camera correspondences in
long-range. In this paper, we introduced an interactive LiDAR to camera
calibration toolbox to estimate the intrinsic and extrinsic transforms. This
toolbox automatically detects the corner of a planer board from a sequence of
LiDAR frames and provides a convenient user interface for annotating the
corresponding pixels on camera frames. Since the toolbox only detects the top
corner of the board, there is no need to prepare a precise polygon planar board
or a checkerboard with different reflectivity areas as in the existing methods.
Furthermore, the toolbox uses genetic algorithms to estimate the transforms and
supports multiple camera models such as the pinhole camera model and the
fisheye camera model. Experiments using Velodyne VLP-16 LiDAR and Point Grey
Chameleon 3 camera show robust results.
