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Detailed Explanation of the HandBot-S2 Camera Intrinsics and LiDAR Calibration Workflow

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Xiao Ningmeng, author at 3D Vision Workshop, published a practical workflow for HandBot-S2 camera intrinsics calibration and camera-LiDAR extrinsics calibration. Intrinsics calibration uses Kalibr together with an AprilGrid calibration board; the article provides acquisition requirements and the kalibr_calibrate_cameras run command; HandBot-S2 offers optional calibration code. The calibration acquisition requirements are: calibration board images must be clear with no motion blur, the device should be placed stationary, and data should be collected for about 10–20 seconds; if the reprojection error is greater than 1 pixel, recollect, avoiding blur, occlusion, and low-texture regions.