L2Calib: $SE(3)$-Manifold Reinforcement Learning for Robust Extrinsic Calibration with Degenerate Motion Resilience

Baorun Li, Chengrui Zhu, Siyi Du +5

Extrinsic calibration is essential for multi-sensor fusion, existing methods rely on structured targets or fully-excited data, limiting real-world applicability. Online calibration…