雷达坐标系下激光雷达落在标定板上的点p，标定板有界，可以得到落在标定板

In the radar coordinate system, the lidar falls on the calibration board at point p. The calibration board is bounded, and the lidar points that fall on the edge of the calibration board can be obtained. In the camera coordinate system, the depth camera hits the calibration board to generate a 3D point cloud. The points on the edge of the calibration plate are fitted with a straight line l, whose normal vector is n, and the distance between the point on l and l satisfies the relationship of d=0, then:

The radar coordinate system under the lidar landing on the calibration plate point p, calibration plate bounded, can be landed on the edge of the calibration plate lidar point, camera coordinate system, the depth camera hit on the calibration plate, resulting in a 3D point cloud, the point at the edge of the calibration plate fitting out of the straight line l, its methodological amount is n, l on the point and l distance to meet the d-0 relationship, there are:

In the radar coordinate system, the lidar points falling on the calibration board are bounded, and the LIDAR Points on the edge of the calibration board can be obtained. In the camera coordinate system, the depth camera hits the calibration board to generate 3D point cloud. The points on the edge of the calibration plate fit the straight line L, and the normal vector is n. The distance between the point on L and l satisfies the relationship of D = 0<br>