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Multi-LiDAR systems have been prevalently applied in modern autonomousvehicles to render a broad view of the environments. The rapid development of5G wireless technologies has brought a breakthrough for current cellularvehicle-to-everything (C-V2X) applications. Therefore, a novel localization andperception system in which multiple LiDARs are mounted around cities forautonomous vehicles has been proposed. However, the existing calibrationmethods require specific hard-to-move markers, ego-motion, or good initialvalues given by users. In this paper, we present a novel approach that enablesautomatic multi-LiDAR calibration using two poles stickered withretro-reflective tape. This method does not depend on prior environmentalinformation, initial values of the extrinsic parameters, or movable platformslike a car. We analyze the LiDAR-pole model, verify the feasibility of thealgorithm through simulation data, and present a simple method to measure thecalibration errors w.r.t the ground truth. Experimental results demonstratethat our approach gains better flexibility and higher accuracy when comparedwith the state-of-the-art approach.

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