Fig. 1. Process of calibration method

Fig. 2. Structure of calibration plate

Fig. 3. Results of opening operation and closing operation

Fig. 4. Extraction results of calibration plate plane

Fig. 5. Relationship between the edge points and the fitting plane

Fig. 6. Edge point cloud extraction results of calibration plate

Fig. 7. Feature points coordinates of calibration plate

Fig. 8. Actual process of calibration

Fig. 9. Feature points extraction results of image

Fig. 10. Feature points extraction results of 3D point cloud

Fig. 11. Comparison of experimental results between the proposed method and Autoware calibration toolbox