This is a package for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration. This package is used for Cassie Blue's 3D LiDAR semantic mapping and automation.

Sensor fusion module for 3D Object Tracking. The project uses a combination of Lidar and Camera data for making an estimation of the distance for the preceding vehicle.

Tracking 3D bounding boxes and computing Time To Collision based on LIDAR and camera.