实际外参标定过程中，通常会使用标定板作为标定工具。同一时刻，标定板同时

In the actual external reference calibration process, the calibration board is usually used as the calibration tool. At the same time, the calibration board appears in the camera and radar field of view at the same time. In the lidar coordinate system, the laser plane intersects the calibration plane, and the laser spot falls on the calibration board, generating a straight line. In the camera coordinate system, the PNP algorithm can be used to solve. For the depth camera, since the 3D information of the spatial point can be output, the point cloud information can be directly used to directly fit the plane equation through the RANSAC [57] algorithm.

The calibration plate is often used as a calibration tool during the actual external parameter calibration process. At the same time, the calibration plate appears in both the camera and radar field of view, in the lidar coordinate system, the laser plane intersects the calibration plane, the laser point falls on the calibration plate, creating a straight line. In the camera coordinate system, the PNP algorithm can be solved. For deep cameras, because 3D information of spatial points can be output, the plane equation can be fitted directly by THE RANSAC algorithm.

In the actual calibration process, the calibration board is usually used as the calibration tool. In the lidar coordinate system, the laser plane intersects with the calibration plane, and the laser point falls on the calibration board to generate a straight line. In camera coordinate system, PNP algorithm can be used to solve the problem. For the depth camera, because it can output 3D information of space points, it can directly use the point cloud information to directly fit the plane equation through RANSAC [57].<br>