Abstract: Aiming at the problems of cumbersome operation steps and low calibration accuracy in the existing sensor calibration methods, based on the parallel characteristics of the radar scanning plane and the ground, this paper uses the homography transformation relationship between the radar scanning plane and the visible light image plane to propose a calibration method of millimeter wave radar and visible light sensor based on homography transformation. First, six metal panels are placed in the calibration field, and the millimeter wave radar data and visible light images of the metal panels in the calibration field are acquired at the same time. Based on the point alignment method, six sets of millimeter wave radar and visible light aligned target point sets are obtained. Then, the linear least square method is used to calculate the homography matrix of the conversion between the radar scanning plane coordinate system and the visible light image plane coordinate system. Finally, the homography matrix is used to project the millimeter wave radar target onto the visible light image to complete the millimeter wave radar and the visible light sensor Data calibration. The experimental results verify the feasibility of the algorithm in this paper, which can accurately calculate the calibration matrix and steadily calibrate the radar target data to the visible light image, effectively improving the efficiency and accuracy of sensor calibration.