[CoRL 2025] BEVCalib: LiDAR-Camera Calibration via Geometry-Guided Bird's-Eye View Representation

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News

We release checkpoints on KITTI, nuScenes, and CalibDB! The CalibDB checkpoint is expected to perform better in indoor scenes. All checkpoints are available on Hugging Face and Google Drive.

Getting Started

Prerequistes

First create a conda environment:

conda env create -n bevcalib python=3.11
conda activate bevcalib
pip3 install -r requirements.txt

The code is built with following libraries:

• Python = 3.11
• Pytorch = 2.6.0
• CUDA = 11.8
• cuda-toolkit = 11.8
• spconv-cu118
• OpenCV
• pandas
• open3d
• transformers
• deformable_attention
• tensorboard
• wandb
• pykitti

We recommend using the following command to install cuda-toolkit=11.8:

conda install -c "nvidia/label/cuda-11.8.0" cuda-toolkit

After installing the above dependencies, please run the following command to install bev_pool operation

cd ./core/img_branch/bev_pool && python setup.py build_ext --inplace

We also provide a Dockerfile for easy setup, please execute the following command to build the docker image and install cuda extensions:

docker build -f Dockerfile/Dockerfile -t bevcalib .
docker run --gpus all -it -v$(pwd):/workspace bevcalib
### In the docker, run the following command to install cuda extensions
cd ./core/img_branch/bev_pool && python setup.py build_ext --inplace

Dataset Preparation

KITTI-Odometry

We release the code to reproduce our results on the KITTI-Odometry dataset. Please download the KITTI-Odometry dataset from here. After downloading the dataset, the directory structure should look like

kitti-odometry/
├── sequences/         
│   ├── 00/            
│   │   ├── image_2/  
│   │   ├── image_3/   
│   │   ├── velodyne/
│   │   └── calib.txt 
│   ├── 01/
│   │   ├── ...
│   └── 21/
│       └── ...
└── poses/            
    ├── 00.txt        
    ├── 01.txt
    └── ...

nuScenes

Please download the nuScenes dataset from here. We use the nuscenes-devkit to load the dataset. Please install it via pip install nuscenes-devkit.

CalibDB

Coming soon!

Pretrained Model

We release pretrained models for KITTI-Odometry, nuScenes, and CalibDB. We provide two ways to download our models.

Google Drive

Please find the pretrained models from Google Drive and place them in the ./ckpts directory. You can also download them individually using gdown:

pip install gdown

# KITTI checkpoint
gdown "https://drive.google.com/uc?id=1gWO-Z4NXG2uWwsZPecjWByaZVtgJ0XNb" -O ckpts/kitti.pth

# nuScenes checkpoint
gdown "https://drive.google.com/uc?id=1TXRXDimvI3eG4l37zj0d9AuH3YqBl0En" -O ckpts/nuscenes.pth

# CalibDB checkpoint
gdown "https://drive.google.com/uc?id=1Oc9kmHR5XdG5k6HvZ88Y-QcvM9uvbslK" -O ckpts/calibdb.pth

Hugging Face

We also release our pretrained models on Hugging Face. You should download huggingface-cli by pip install -U "huggingface_hub[cli]" and then download the pretrained models by running the following commands:

# KITTI checkpoint
huggingface-cli download cisl-hf/BEVCalib --revision kitti-bev-calib --local-dir YOUR_LOCAL_PATH

# nuScenes checkpoint
huggingface-cli download cisl-hf/BEVCalib --revision nuscenes-bev-calib --local-dir YOUR_LOCAL_PATH

# CalibDB checkpoint
huggingface-cli download cisl-hf/BEVCalib --revision calibdb-bev-calib --local-dir YOUR_LOCAL_PATH

Environment Setup

Before running any scripts, set the PYTHONPATH to the repository root so that shared modules in core/ can be found:

export PYTHONPATH=$(pwd)

Evaluation

KITTI

Please run the following command to evaluate the model on KITTI:

python kitti-bev-calib/inference_kitti.py \
         --log_dir ./logs/kitti \
         --dataset_root YOUR_PATH_TO_KITTI/kitti-odemetry \
         --ckpt_path YOUR_PATH_TO_KITTI_CHECKPOINT/ckpts/kitti.pth \
         --angle_range_deg 20.0 \
         --trans_range 1.5

nuScenes

Please run the following command to evaluate the model on nuScenes:

python nuscenes-bev-calib/inference_nuscenes.py \
         --log_dir ./logs/nuscenes \
         --dataset_root YOUR_PATH_TO_NUSCENES \
         --ckpt_path YOUR_PATH_TO_NUSCENES_CHECKPOINT/ckpts/nuscenes.pth \
         --angle_range_deg 20.0 \
         --trans_range 1.5

Training

We provide instructions to reproduce our results on the KITTI-Ododemetry dataset. Please run:

python kitti-bev-calib/train_kitti.py --log_dir ./logs/kitti \
        --dataset_root YOUR_PATH_TO_KITTI/kitti-odemetry \
        --save_ckpt_per_epoches 40 --num_epochs 500 --label 20_1.5 --angle_range_deg 20 --trans_range 1.5 \
        --deformable 0 --bev_encoder 1 --batch_size 16 --xyz_only 1 --scheduler 1 --lr 1e-4 --step_size 80

You can change --angle_range_deg and --trans_range to train under different noise settings. You can also try to use --pretrain_ckpt to load a pretrained model for fine-tuning on your own dataset.

Acknowledgement

BEVCalib appreciates the following great open-source projects: BEVFusion, LCCNet, LSS, spconv, and Deformable Attention.

Citation

@inproceedings{bevcalib,
      title={BEVCALIB: LiDAR-Camera Calibration via Geometry-Guided Bird's-Eye View Representations}, 
      author={Weiduo Yuan and Jerry Li and Justin Yue and Divyank Shah and Konstantinos Karydis and Hang Qiu},
      booktitle={9th Annual Conference on Robot Learning},
      year={2025},
}