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The fusion of multi-modal sensors has become increasingly popular in autonomous driving and intelligent robots since it can provide richer information than any single sensor, enhance reliability in complex environments. Multi-sensor extrinsic calibration is one of the key factors of sensor fusion. However, such calibration is difficult due to the variety of sensor modalities and the requirement of calibration targets and human labor. In this paper, we demonstrate a new targetless cross-modalarXiv:2109.13414v2 fatcat:woizglvawrcfdgwdd6qqswq2za