Abstract: Systems and methods for calibrating a plurality of sensors attached to a mobile robot include: obtaining, a first set of measurement scans of a calibration target; determining, for each sensor, based on the first set of measurement scans, a pose of the calibration target with respect to each sensor; computing, for each sensor, a first transform from a reference frame of the pose of the calibration target to a reference frame of each sensor; and computing, based on the first transform, a second transform from a reference frame of at least one sensor to a reference frame of a fixed reference point.

Abstract: A solar radiation sensor comprises a semispherical or spherical body member formed with a plurality of radially-extending passageways leading to individual solar-radiation sensors individually oriented and shielded so as to intercept only solar radiation progressing along the radial lines towards the detectors. In one described embodiment, the detectors are recessed within the body member at the bottom of their respective bores, and in a second described embodiment the detectors are all formed in a flat face of the body member and receive the solar radiations by means of fiber optical elements disposed within the bores.