  Sensor setups consisting of a combination of 3D range scanner lasers and
stereo vision systems are becoming a popular choice for on-board perception
systems in vehicles; however, the combined use of both sources of information
implies a tedious calibration process. We present a method for extrinsic
calibration of lidar-stereo camera pairs without user intervention. Our
calibration approach is aimed to cope with the constraints commonly found in
automotive setups, such as low-resolution and specific sensor poses. To
demonstrate the performance of our method, we also introduce a novel approach
for the quantitative assessment of the calibration results, based on a
simulation environment. Tests using real devices have been conducted as well,
proving the usability of the system and the improvement over the existing
approaches. Code is available at http://wiki.ros.org/velo2cam_calibration
