# Single-Shot is Enough: Panoramic Infrastructure Based Calibration of Multiple Cameras and 3D LiDARs

arXiv: https://arxiv.org/abs/2103.12941 · HTML: https://mlsanity.com/paper/2103.12941/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Mar 2021.

## Built on by (most cited first, 2 of 2)

- [UniCal: Unified Neural Sensor Calibration](https://mlsanity.com/paper/2409.18953/) (2024)
- [IRisPath: Enhancing Costmap for Off-Road Navigation with Robust IR-RGB Fusion for Improved Day and Night Traversability](https://mlsanity.com/paper/2412.03173/) (2024)

## Abstract (arXiv)

The integration of multiple cameras and 3D Li- DARs has become basic configuration of augmented reality devices, robotics, and autonomous vehicles. The calibration of multi-modal sensors is crucial for a system to properly function, but it remains tedious and impractical for mass production. Moreover, most devices require re-calibration after usage for certain period of time. In this paper, we propose a single-shot solution for calibrating extrinsic transformations among multiple cameras and 3D LiDARs. We establish a panoramic infrastructure, in which a camera or LiDAR can be robustly localized using data from single frame. Experiments are conducted on three devices with different camera-LiDAR configurations, showing that our approach achieved comparable calibration accuracy with the state-of-the-art approaches but with much greater efficiency.