Automation of spatial calibration for heterogeneous multi-LIDAR network

In this paper, we propose a system for automating spatial calibration for heterogeneous multi-LIDAR networks. The proposed system decides the order of light detection and ranging (LIDAR) sensors to be calibrated by using a predefined algorithm and calibrates the sensors in accordance with the order. We evaluated the accuracy of spatial calibration when calibrating LIDAR sensors in the order of the number of points acquired by the sensors and the field of view (FoV) of the sensors, and we show the effectiveness of the proposed system.