# Full Workflow for Camera Intrinsic and Camera-LiDAR Extrinsic Calibration on HandBot-S2

- Source: 3D视觉工坊 · 微信公众号
- Published: 2026-10-15T23:00:00.000Z
- RoboHot: https://robohot.news/en/items/xzjdnqzqnwn04bh5glnvl4pak
- Original: https://mp.weixin.qq.com/s?__biz=MzU1MjY4MTA1MQ==&mid=2247752192&idx=2&sn=233686d48c19a71faaf073f8d15186aa&chksm=fabca914f19135967754d21bf813471147fbc659d971135e53ae78e1ffa5fdbdca84f43192e5&scene=126&sessionid=1792241050#rd

## Summary

This article details the practical workflow for completing camera intrinsic calibration and camera-LiDAR extrinsic calibration on the HandBot-S2. Intrinsic calibration uses Kalibr with an AprilGrid calibration board, and the article provides the capture requirements and the kalibr_calibrate_cameras run command.