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This paper presents a novel way to address the extrinsic calibration problem for a system composed of a 3D LIDAR and a camera. The relative transformation between the two sensors is calibrated via a nonlinear least squares (NLS) problem, which is formulated in terms of the geometric constraints associated with a trihedral object. Precise initial estimates of NLS are obtained by dividing it into two sub-problems that are solved individually. With the precise initializations, the calibrationdoi:10.3390/s130201902 pmid:23377190 pmcid:PMC3649407 fatcat:2igmybsnbjg7fbpl5ktnbm4x7i