# Extrinsic Infrastructure Calibration Using the Hand-Eye Robot-World Formulation

arXiv: https://arxiv.org/abs/2305.01407 · HTML: https://mlsanity.com/paper/2305.01407/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 May 2023.

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

- [Fast, Robust, Permutation-and-Sign Invariant SO(3) Pattern Alignment](https://mlsanity.com/paper/2512.00659/) (2025)

## Abstract (arXiv)

We propose a certifiably globally optimal approach for solving the hand-eye robot-world problem supporting multiple sensors and targets at once. Further, we leverage this formulation for estimating a geo-referenced calibration of infrastructure sensors. Since vehicle motion recorded by infrastructure sensors is mostly planar, obtaining a unique solution for the respective hand-eye robot-world problem is unfeasible without incorporating additional knowledge. Hence, we extend our proposed method to include a-priori knowledge, i.e., the translation norm of calibration targets, to yield a unique solution. Our approach achieves state-of-the-art results on simulated and real-world data. Especially on real-world intersection data, our approach utilizing the translation norm is the only method providing accurate results.