Motion-Based Extrinsic Sensor-to-Sensor Calibration: Effect of Reference Frame Selection for New and Existing Methods.

This paper studies the effect of reference frame selection in sensor-to-sensor extrinsic calibration when formulated as a motion-based hand-eye calibration problem. As the sensor trajectories typically contain some composition of noise, the aim is to determine which selection strategies work best under which noise conditions. Different reference selection options are tested under varying noise conditions in simulations, and the findings are validated with real data from the KITTI dataset.