Sensitivity Analysis in a Lidar- Camera Calibration

In this paper, variability analysis was performed on the model calibration methodology between a multi-camera system and a LiDAR laser sensor (Light Detection and Ranging). Both sensors are used to digitize urban environments. A practical and complete methodology is presented to predict the error propagation inside the LiDAR-camera calibration. We perform a sensitivity analysis in a local and global way. The local approach analyses the output variance with respect to the input, only one parameter is varied at once. In the global sensitivity approach, all parameters are varied simultaneously and sensitivity indexes are calculated on the total variation range of the input parameters. We quantify the uncertainty behaviour in the intrinsic camera parameters and the relationship between the noisy data of both sensors and their calibration. We calculated the sensitivity indexes by two techniques, Sobol and FAST (Fourier amplitude sensitivity test). Statistics of the sensitivity analysis are displayed for each sensor, the sensitivity ratio in laser-camera calibration data