That first article and how it looks when imported into Authorea in one click: https://www.authorea.com/users/3/articles/208068-automatic-extrinsic-calibration-f

That first article and how it looks when imported into Authorea in one click: https://www.authorea.com/users/3/articles/208068-automatic-extrinsic-calibration-for-lidar-stereo-vehicle-sensor-setups https://www.authorea.com/users/3/articles/208068-automatic-e... (just a couple of labels and si units which do not render). Note: it is forkable and can be commented upon.