# Target-free joint camera-LiDAR intrinsic and extrinsic calibration method

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/cgjbwyk9avu1986t251c71yee
- Original: https://arxiv.org/abs/2610.37350

## Summary

The authors propose a fully automatic, target-free framework that jointly estimates camera intrinsics, radial-tangential distortion, and camera-LiDAR extrinsics from raw images and LiDAR scans. The method extends deep pixel-point correspondence-based calibration from rectified images to raw cameras through intrinsic- and distortion-aware correspondence learning, and iteratively couples correspondence prediction with nonlinear optimization during calibration. Zero-shot evaluations on an unseen KITTI configuration and on three real robotic platforms show that joint calibration improves extrinsic accuracy while recovering accurate intrinsics.