Figure 1.

General constraints of our method. The first row shows the point cloud (top-left) and image (top-right) captured at position 1, and the second row shows the case of position 2. ${\mathbf{X}}_{j,i}^{\infty }$ represents the 3D infinity points in the LiDAR coordinate system. ${\mathbf{x}}_{j,i}^{\infty }$ represents the corresponding 2D infinity points on the image plane. During the position change, the relative transformation of the two coordinate systems is fixed. In our method, an initial solution can be obtained from at least two positions.