Automatic Extrinsic Calibration between Camera & 3D Lidar using Mutual Information

Blog: https://bachzz.github.io/posts/MI_calib/

Note: This is python implementation (+ vectorization) of the two MI-based approaches:

• Intensity-to-Intensity (I2I): Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information

• Depth-to-Depth (D2D): From Chaos to Calibration: A Geometric Mutual Information Approach to Target-Free Camera LiDAR Extrinsic Calibration