What can be considered to be a good reprojection error value?

I have just done my Camera-LiDAR Calibration and have got an Reprojection Error of 2.06, Rotation Error of 1 and Translation Error of 0.02. Can these calibration parameters considered to be good calibration parameters?

Answer 1

[Shreshth]

Hello Enes,

To ascertain whether the error values following a camera-LiDAR calibration are within acceptable limits, it is essential to thoroughly comprehend the demands of the specific application, the level of precision required, and the operational context of the system.

The calibration parameters you've provided might be acceptable for some applications, but they are not ideal for high-precision tasks. Here is a rough guideline for calibration error values.

1. Reprojection Error (2.06 pixels): Reasonable for some applications, but ideally should be below 1 pixel.
2. Rotation Error (1 degree): Quite high; should be less than 0.1 degrees for accurate calibration.
3. Translation Error (0.02 meters): May be acceptable, but for high-precision tasks, aim for an error of just a few millimetres.

Overall, while the translation error may be tolerable, the rotation error should be improved for most applications.

To understand more about the calibration process using the Lidar toolbox and also refinement for error minimisation, you can refer to the below MathWorks documentation:

https://in.mathworks.com/help/lidar/ug/lidar-and-camera-calibration.html

Hope it helps.

Regards,

Shubham Shreshth