Abstract
Intelligent vehicles are complex systems which often accommodate several sensors of different modalities. This paper proposes a general approach to the problem of extrinsic calibration of multiple sensors of varied modalities. Our approach is seamlessly integrated with the Robot Operating System (ROS) framework, and allows for the interactive positioning of sensors and labelling of data, facilitating the calibration process. The calibration problem is formulated as a simultaneous optimization for all sensors, in which the objective function accounts for the various sensor modalities. Results show that the proposed procedure produces accurate calibrations.
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