  In this paper, we propose a method of targetless and automatic Camera-LiDAR
calibration. Our approach is an extension of hand-eye calibration framework to
2D-3D calibration. By using the sensor fusion odometry method, the scaled
camera motions are calculated with high accuracy. In addition to this, we
clarify the suitable motion for this calibration method.
  The proposed method only requires the three-dimensional point cloud and the
camera image and does not need other information such as reflectance of LiDAR
and to give initial extrinsic parameter. In the experiments, we demonstrate our
method using several sensor configurations in indoor and outdoor scenes to
verify the effectiveness. The accuracy of our method achieves more than other
comparable state-of-the-art methods.
