Lidar and camera sensor fusion - on-road autonomy

Lidar and camera sensor fusion: colorized lidar on the left, where each point is a lidar range measurement, painted the appropriate pixel color from the camera images.

The right shows lidar-in-camera, where lidar range measurements are projected into the camera images.

Note the cameras used on this vehicle have wide fisheye lenses. Additionally, all four cameras are rolling shutter.