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This paper proposes an efficient calibration procedure designed for the vehicle prototypes involved in the VisLab Intercontinental Autonomous Challenge . The perception system is based on laser rangefinders and cameras, for their complementary purpose. An high precision pose estimation must be carried out by a very precise calibration procedure, in order to convert information between different coordinate systems. A modular approach has been extensively tested during VIAC which has offered a unique chance to face pros and cons of different calibration procedures; data collected during the expedition has also become a reference benchmark for further improvements.