Physics and semantic informed multi-sensor calibration via optimization theory and self-supervised learning.

Widespread adaptation of autonomous, robotic systems relies greatly on safe and reliable operation, which in many cases is derived from the ability to maintain accurate and robust perception capabilities. Environmental and operational conditions as well as improper maintenance can produce calibration errors inhibiting sensor fusion and, consequently, degrading the perception performance and overall system usability. Traditionally, sensor calibration is performed in a controlled environment with one or more known targets.