  The integration of multiple cameras and 3D Li- DARs has become basic
configuration of augmented reality devices, robotics, and autonomous vehicles.
The calibration of multi-modal sensors is crucial for a system to properly
function, but it remains tedious and impractical for mass production. Moreover,
most devices require re-calibration after usage for certain period of time. In
this paper, we propose a single-shot solution for calibrating extrinsic
transformations among multiple cameras and 3D LiDARs. We establish a panoramic
infrastructure, in which a camera or LiDAR can be robustly localized using data
from single frame. Experiments are conducted on three devices with different
camera-LiDAR configurations, showing that our approach achieved comparable
calibration accuracy with the state-of-the-art approaches but with much greater
efficiency.
