Multi-modal sensor fusion has become ubiquitous in the field of vehicle motion estimation. Achieving a consistent sensor fusion in such a set-up demands the precise knowledge of the misalignments between the coordinate systems in which the different information sources are expressed. In ego-motion estimation. even sub-degree misalignment errors lead to serious performance degradation. https://ashleyshomestores.shop/product-category/3-piece-sofa-chaise/