Method for calibrating a lidar sensor and a camera sensor of a vehicle

Abstract

The invention relates to a computer-implemented method (100) for calibrating a lidar sensor (201) and a camera sensor (203) of a vehicle (200), comprising: Determining (107) at least one first boundary (213) of at least one object delimited by segmentation in the segmented lidar data (209) in the vicinity of the vehicle (200); Determining (109) at least one second boundary (217) of the object (215) delimited by segmentation in the segmented camera data (211) in the vicinity of the vehicle (200); and calibrating (111) the lidar sensor (201) and the camera sensor by performing a boundary matching optimization between the first boundary (213) determined in the lidar data (205) and the second boundary (217) of the object (215) determined in the camera data (207).

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