Abstract: Aiming at the estimation problem of the position and orientation relationship of multiple sensors in robotic perceptual system,a new self-calibration approach based on particle swarm optimization(PSO)is proposed.According to the constraint of the projection line produced by laser scanning points in image,the nonlinear optimization objective function of the extrinsic parameters between a camera and a laser scanner is established.And particle swarm optimization method is adopted for extrinsic parameters.The approach is insensitive to the initial value of parameters,and does not require any calibration object as well.The experimental results confirm that the proposed algorithm can yield high accurate calibration results.