I. Introduction
Multirobot systems have attracted considerable attention due to their wide range of applications, such as search and rescue [1], target tracking [2], cooperative localization [3], and mapping [4]. In order to accomplish these tasks cooperatively, it is necessary for the robots to share their sensor measurements. These measurements, however, are registered with respect to each robot's local reference frame and need to be converted to a common reference frame before they can be fused. Such a conversion requires the knowledge of the robot-to-robot transformation, i.e., their relative position and orientation (pose). Most multirobot estimation algorithms assume that this robot-to-robot transformation is known. However, only few works describe how to compute it.