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Mobile robotic applications need precise information about the geometricposition of the individual sensors on the platform. This information is givenby the extrinsic calibration parameters which define how the sensor is rotatedand translated with respect to a fixed reference coordinate system. Erroneouscalibration parameters have a negative impact on typical robotic estimationtasks, e.g. SLAM. In this work we propose a new method for a continuousestimation of the calibration parameters during operation of the robot. Theparameter estimation is based on the matching of point clouds which areacquired by the sensors from multiple static viewpoints. Consequently, ourmethod does not need any special calibration targets and is applicable to anysensor whose measurements can be converted to point clouds. We demonstrate thesuitability of our method by calibrating a multi-sensor system composed by 2lidar sensors, 3 cameras, and an imaging radar sensor.

Continuous Target-free Extrinsic Calibration of a Multi-Sensor System from a Sequence of Static Viewpoints