The application of the invention discloses a combined calibration method for multiple sensors of a
mobile robot. The
mobile robot comprises a 2D
laser radar and a camera. The method comprises the following steps of: S1, performing internal parameter calibration on the camera by use of a pinhole cameramodel, so as to obtain an internal parameter matrix, which is as shown in the description, of the camera; S2, placing the camera and the 2D
laser radar on fixed positions of the
mobile robot, and keeping the 2D
laser radar and the camera constant in a movement process of the mobile
robot; S3, acquiring the position of the camera in a world coordinate
system at a moment ti, wherein the position of the camera is as shown in the description, and I is a positive integer; S4, acquiring the position of the 2D laser radar in a world coordinate
system at the moment ti, wherein the position of the 2D laser radar is as shown in the description; S5, repeating the S3 and S4 until i is not less than 4; and S6, obtaining a
rotation matrix Rcl and a translation matrix tcl of the camera and the 2D laser radar according to an equation as shown in the description. The technical scheme of the application of the invention completely breaks away from the restriction of a calibration target, calibration can be performed under various environments, real-time calibration can be performed in a use process, the problem that positioning error is caused since parameters of existing mobile robots are calibrated only before leaving factory and the parameters fluctuate in the later stage, and users can perform calibration conveniently in the use process.