How to use the KITTI 3D object detection methods in real-time autonomous driving methods, where we have only one calibration set? : I am working on real-time 3D object detection for an autonomous ground vehicle. The sensors that I use is a monocular camera and a VLP16 LiDAR. For calibration and sensor fusion, I used the Autoware camera-LiDAR calibration tool. Now, I want to use the KITTI 3D object detection methods to obtain the 3D bounding boxes on an image. However, each image and its corresponding velodyne point cloud in the KITTI dataset have their own calibration file. In autoware, I am getting only a single extrinsic calibration file for the whole setup. Also, the Autoware calibration parameters are different from the calibration parameters of the KITTI dataset. Can anyone help me in converting the autoware calibration parameters to that of the KITTI dataset, or is there any other method to achieve my goal?