On Accurate and Robust Estimation of 3D and 2D Circular Center: Method and Application to Camera-Lidar Calibration

• URL: http://arxiv.org/abs/2511.06611v1
• Date: Mon, 10 Nov 2025 01:43:42 GMT
• Title: On Accurate and Robust Estimation of 3D and 2D Circular Center: Method and Application to Camera-Lidar Calibration
• Authors: Jiajun Jiang, Xiao Hu, Wancheng Liu, Wei Jiang,
• Abstract summary: We propose a robust 3D circle center estimator based on conformal geometric algebra and RANSAC.<n>We also propose a chord-length variance minimization method to recover the true 2D projected center.<n>Our framework significantly outperforms state-of-the-art approaches.
• Score: 6.9583467338943485
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Circular targets are widely used in LiDAR-camera extrinsic calibration due to their geometric consistency and ease of detection. However, achieving accurate 3D-2D circular center correspondence remains challenging. Existing methods often fail due to decoupled 3D fitting and erroneous 2D ellipse-center estimation. To address this, we propose a geometrically principled framework featuring two innovations: (i) a robust 3D circle center estimator based on conformal geometric algebra and RANSAC; and (ii) a chord-length variance minimization method to recover the true 2D projected center, resolving its dual-minima ambi- guity via homography validation or a quasi-RANSAC fallback. Evaluated on synthetic and real-world datasets, our framework significantly outperforms state-of-the-art approaches. It reduces extrinsic estimation error and enables robust calibration across diverse sensors and target types, including natural circular objects. Our code will be publicly released for reproducibility.

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