Fig. 1. Camera model mapping process

Fig. 2. (a) Coordinate system of lidar; (b) Scanning range in the vertical direction ( \begin{document}${\delta }_{\min}-{\delta }_{\max}$\end{document}); (c); Scanning parameters in the vertical plane; (d) Scanning parameters on the horizontal plane

Fig. 3. Calibration principle of lidar and camera

Fig. 4. Multi-source data fusion process

Fig. 5. The extrinsic calibration methods of lidar and camera

Fig. 6. (a) Checkerboard with border; (b) Checkerboard without border

Fig. 7. Non-checkerboard 2D calibration board