Not Totally Accurate [RegNet: Multimodal Sensor Registration Using Deep Neural Networks] PyTorch Implementation

Extrinsic Calibration of LiDAR Camera given an RGB image and a projected Depth image. Implemented for learning purposes. Based on RegNet: Multimodal Sensor Registration Using Deep Neural Networks. Still playing around with it. This isn't intended to be a faithful implementation.

References

• RegNet: Multimodal Sensor Registration Using Deep Neural Networks
• KITTI Raw
• Rotation Matrix -> Quaternion
• Quaternion -> Rotation Matrix
• Rotation Matrix <--> Euler Angle
• Dual Quaternion