A General Approach to the Extrinsic Calibration of Intelligent Vehicles Using ROS

  • Miguel Oliveira
  • Afonso CastroEmail author
  • Tiago Madeira
  • Paulo Dias
  • Vitor Santos
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1092)


Intelligent vehicles are complex systems which often accommodate several sensors of different modalities. This paper proposes a general approach to the problem of extrinsic calibration of multiple sensors of varied modalities. Our approach is seamlessly integrated with the Robot Operating System (ROS) framework, and allows for the interactive positioning of sensors and labelling of data, facilitating the calibration process. The calibration problem is formulated as a simultaneous optimization for all sensors, in which the objective function accounts for the various sensor modalities. Results show that the proposed procedure produces accurate calibrations.


Extrinsic calibration ROS Optimization Bundle adjustment Intelligent vehicles 



This Research Unit is funded by National Funds through the FCT - Foundation for Science and Technology, in the context of the project UID/CEC/00127/2019.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Miguel Oliveira
    • 1
    • 2
  • Afonso Castro
    • 1
    Email author
  • Tiago Madeira
    • 1
  • Paulo Dias
    • 1
    • 2
  • Vitor Santos
    • 1
    • 2
  1. 1.University of AveiroAveiroPortugal
  2. 2.Institute of Electronics and Telematics Engineering of AveiroAveiroPortugal

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