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Fig. 1. Fused point cloud of a multi-LiDAR infrastructure sensor setup at an intersection with tracking results (red) and ground truth data (green), respectively, marked by oriented bounding boxes. The blue point cloud originates from eight LiDAR sensors.

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The use of infrastructure sensors has proven to be an effective method for recording large traffic datasets. In order to achieve a high data quality for such datasets, an accurate extrinsic calibration of the sensors is essential. While previous approaches are not fast enough or do not fit the use-case of infrastructure sensing, we present a method that is capable of registering LiDAR sensors to a digital map in real-time. We use a mobile infrastructure sensor setup consisting of two measurement units, which we position at different locations with real road traffic. Each measurement unit is equipped with two LiDARs at a mounting height of eight meters. Experiments have shown that our method can perform continuous registration of up to four 128-layer LiDARs. With a voxel size of 0.05 meters used, our method achieves a root-mean-square error (RMSE) of 0.13 meters at an average processing time of 0.05 seconds per frame.

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