Table 4.

Calibration result obtained with 25 poses.

	LiDAR to Cam0	Confidence	LiDAR to Cam1	Confidence
Translation (m)
$t_x$	$-0.1041$	$\pm 0.0078$	$-0.1622$	$\pm 0.0077$
$t_y$	$-0.0324$	$\pm 0.0093$	$-0.0297$	$\pm 0.0087$
$t_z$	$-0.0211$	$\pm 0.0154$	$-0.0177$	$\pm 0.0145$
Rotation (axis-angle)
${\mathbf{r}}_x$	$1.5549$	$\pm 0.0019$	$1.5600$	$\pm 0.0018$
${\mathbf{r}}_y$	$-0.0292$	$\pm 0.0032$	$-0.0294$	$\pm 0.0034$
${\mathbf{r}}_z$	$0.0495$	$\pm 0.0037$	$0.0473$	$\pm 0.0038$