A system for calibrating at least one sensor on a vehicle based on sensor data projected into a voxel space, the system comprising: a first sensor (114, 210) coupled to the vehicle; a second sensor (114, 210) coupled to the vehicle; one or more processors; and one or more computer readable storage media communicatively coupled to the one or more processors and storing instructions that are executable by the one or more processors to: receive first sensor data as a first dataset from the first sensor and second sensor data as a second dataset from the second sensor; project the first dataset and the second dataset into the voxel space; identify occupied voxels in the voxel space; calculate a voxel score associated with individual voxels of the occupied voxels in the voxel space, the voxel score comprising a combination of a residual value and an occupancy score associated with the individual voxels, wherein the residual value is determined based on an eigenvalue decomposition associated with each of the individual voxels, and the occupancy score is representative of a cost associated with the individual voxels being occupied by the at least a portion of the first dataset or the second dataset; adjust a position of the first dataset or the second dataset in the voxel space to optimize a magnitude of the voxel score; and determine a sensor transformation corresponding to an optimized voxel score of the voxel space. a first sensor (114, 210) coupled to the vehicle; a second sensor (114, 210) coupled to the vehicle; one or more processors; and one or more computer readable storage media communicatively coupled to the one or more processors and storing instructions that are executable by the one or more processors to: receive first sensor data as a first dataset from the first sensor and second sensor data as a second dataset from the second sensor; project the first dataset and the second dataset into the voxel space; identify occupied voxels in the voxel space; calculate a voxel score associated with individual voxels of the occupied voxels in the voxel space, the voxel score comprising a combination of a residual value and an occupancy score associated with the individual voxels, wherein the residual value is determined based on an eigenvalue decomposition associated with each of the individual voxels, and the occupancy score is representative of a cost associated with the individual voxels being occupied by the at least a portion of the first dataset or the second dataset; adjust a position of the first dataset or the second dataset in the voxel space to optimize a magnitude of the voxel score; and determine a sensor transformation corresponding to an optimized voxel score of the voxel space. receive first sensor data as a first dataset from the first sensor and second sensor data as a second dataset from the second sensor; project the first dataset and the second dataset into the voxel space; identify occupied voxels in the voxel space; calculate a voxel score associated with individual voxels of the occupied voxels in the voxel space, the voxel score comprising a combination of a residual value and an occupancy score associated with the individual voxels, wherein the residual value is determined based on an eigenvalue decomposition associated with each of the individual voxels, and the occupancy score is representative of a cost associated with the individual voxels being occupied by the at least a portion of the first dataset or the second dataset; adjust a position of the first dataset or the second dataset in the voxel space to optimize a magnitude of the voxel score; and determine a sensor transformation corresponding to an optimized voxel score of the voxel space.