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 coupled to the vehicle ; a second sensor 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 coupled to the vehicle ; a second sensor 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. <EOS>