# Automatic Calibration of Dual-LiDARs Using Two Poles Stickered with Retro-Reflective Tape

arXiv: https://arxiv.org/abs/1911.00635 · HTML: https://mlsanity.com/paper/1911.00635/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Nov 2019.

## Built on by (most cited first, 3 of 3)

- [Edge-Aided Sensor Data Sharing in Vehicular Communication Networks](https://mlsanity.com/paper/2206.08882/) (2022)
- [TrajMatch: Towards Automatic Spatio-temporal Calibration for Roadside LiDARs through Trajectory Matching](https://mlsanity.com/paper/2302.02157/) (2023)
- [Optimal Target Shape for LiDAR Pose Estimation](https://mlsanity.com/paper/2109.01181/) (2021)

## Abstract (arXiv)

Multi-LiDAR systems have been prevalently applied in modern autonomous vehicles to render a broad view of the environments. The rapid development of 5G wireless technologies has brought a breakthrough for current cellular vehicle-to-everything (C-V2X) applications. Therefore, a novel localization and perception system in which multiple LiDARs are mounted around cities for autonomous vehicles has been proposed. However, the existing calibration methods require specific hard-to-move markers, ego-motion, or good initial values given by users. In this paper, we present a novel approach that enables automatic multi-LiDAR calibration using two poles stickered with retro-reflective tape. This method does not depend on prior environmental information, initial values of the extrinsic parameters, or movable platforms like a car. We analyze the LiDAR-pole model, verify the feasibility of the algorithm through simulation data, and present a simple method to measure the calibration errors w.r.t the ground truth. Experimental results demonstrate that our approach gains better flexibility and higher accuracy when compared with the state-of-the-art approach.