360 LiDAR + 360 RGB + 360 Thermal: Multimodal Targetless Calibration

Nowadays, using LiDARs, RGB cameras and Thermal cameras for automatic systems, in particular self-driving cars, has become the common approach in multiple deployments. Each kind of sensor has distinct advantages, leading to the fact that using multiple sensors can help autonomous systems improve their performance. Calibration between sensors is the precondition of fusing multiple sensors. This paper presents a novel way to register extrinsic parameters for LiDAR, 360 RGB camera and 360 Thermal camera automatically based on features information. To evaluate the method, we use our dataset around Nagoya University.