MSG-cal: Multi-sensor graph-based calibration

We present a system for determining a global solution for the relative poses between multiple sensors with different modalities and varying fields of view. The final calibration result produces a tree of transforms rooted at a single sensor that allows the fusion of the sensor streams into a shared coordinate frame. The method differs from other approaches by handling any number of sensors with only minimal constraints on their fields of view, producing a global solution that is better than any pairwise solution, and by simplifying the data collection process through automatic data association.