Active Online Calibration of Multiple Sensors for Autonomous Surface Vessels

Abstract. We present an approach to actively calibrate the exterocep-tive sensors of an Autonomous Surface Vessel (ASV) autonomously. The approach consists of locating suitable calibration sites in the environment from aerial imagery, navigating to them, gathering calibration data and estimating the required parameters from data. We have conducted ex-periments using an ASV in a lake to validate our approach