README
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Version 1.0, 16-Jan-2018

The code has been tested with MATLAB 2017a/b on a PC with 64-bit windows 7/10.

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Use of this code is free for research purposes only.

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IDT: Inverse Distance Transform, IDT is used to match edges of LiDAR and image[1].
For specific technique details, please read paper[2].  

[1] Levinson, Jesse, and S. Thrun. "Automatic Online Calibration of Cameras and Lasers." Robotics: Science and Systems 2013.
[2] Li T., Fang J., Zhong Y., Wang D., Xue J. (2017) Online High-Accurate Calibration of RGB+3D-LiDAR for Autonomous Driving. In: Zhao Y., Kong X., Taubman D. (eds) Image and Graphics. ICIG 2017. Lecture Notes in Computer Science, vol 10668. Springer, Cham