External parameter joint calibration method among color camera, laser radar and rotating shaft

The invention discloses an external parameter joint calibration method among a color camera, a laser radar and a rotating shaft, and relates to the field of external parameter joint calibration, S1, data acquisition, S2, construction of a loss function, S3, a first part of the loss function is a two-dimensional code checkerboard angular point re-projection error, S4, a second part of the loss function is point cloud and image plane constraint, and S5, data acquisition. And S5, a third part of the loss function is point cloud non-layering constraint. The method comprises the steps of obtaining a loss function [delta] = [delta] project + [delta] plane + [delta] point by combining three constraints, obtaining a minimum value point of the loss function by using any optimization library of cerees and g2o, and giving out a calibration result of each pose, obtaining a pose relationship among coordinate systems of a color camera, a laser radar and a rotating shaft by optimizing the constructed loss function, increasi