Algorithm 3: Proposed extrinsic calibration algorithm.

Result: ${\{{\mathbf{R}}_q^{★},{\mathbf{T}}_q^{★}\}}_{q=2}^M$, ${\left\{{\mathbf{C}}_i^{★}\right\}}_{i=1}^N$ minimizing $J_{BA}({\{{\mathbf{R}}_q,{\mathbf{T}}_q\}}_{q=2}^M,{\left\{{\mathbf{C}}_i\right\}}_{i=1}^N)$    Apply the Levenberg–Marquardt algorithm to find ${\{{\mathbf{R}}_q^{★},{\mathbf{T}}_q^{★}\}}_{q=2}^M$, ${\left\{{\mathbf{C}}_i^{★}\right\}}_{i=1}^N$ minimizing    $J_{BA}({\{{\mathbf{R}}_q,{\mathbf{T}}_q\}}_{q=2}^M,{\left\{{\mathbf{C}}_i\right\}}_{i=1}^N)$, with ${\{{\overline{\mathbf{R}}}_q,{\overline{\mathbf{T}}}_q\}}_{q=2}^M$, ${\left\{{\overline{\mathbf{C}}}_i\right\}}_{i=1}^N$ as the initial solution;