# Heterogeneous Multi-sensor Calibration based on Graph Optimization

arXiv: https://arxiv.org/abs/1905.11167 · HTML: https://mlsanity.com/paper/1905.11167/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 May 2019.

## Built on by (most cited first, 1 of 1)

- [Accurate calibration of multi-perspective cameras from a generalization of the hand-eye constraint](https://mlsanity.com/paper/2202.00886/) (2022)

## Abstract (arXiv)

Many robotics and mapping systems contain multiple sensors to perceive the environment. Extrinsic parameter calibration, the identification of the position and rotation transform between the frames of the different sensors, is critical to fuse data from different sensors. When obtaining multiple camera to camera, lidar to camera and lidar to lidar calibration results, inconsistencies are likely. We propose a graph-based method to refine the relative poses of the different sensors. We demonstrate our approach using our mapping robot platform, which features twelve sensors that are to be calibrated. The experimental results confirm that the proposed algorithm yields great performance.