Report
Online Extrinsic Calibration based on Per-Sensor Ego-Motion Using Dual Quaternions
| العنوان: | Online Extrinsic Calibration based on Per-Sensor Ego-Motion Using Dual Quaternions |
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| المؤلفون: | Horn, Markus, Wodtko, Thomas, Buchholz, Michael, Dietmayer, Klaus |
| المصدر: | IEEE Robotics and Automation Letters 6 (2), 982-989, 2021 |
| سنة النشر: | 2021 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | In this work, we propose an approach for extrinsic sensor calibration from per-sensor ego-motion estimates. Our problem formulation is based on dual quaternions, enabling two different online capable solving approaches. We provide a certifiable globally optimal and a fast local approach along with a method to verify the globality of the local approach. Additionally, means for integrating previous knowledge, for example, a common ground plane for planar sensor motion, are described. Our algorithms are evaluated on simulated data and on a publicly available dataset containing RGB-D camera images. Further, our online calibration approach is tested on the KITTI odometry dataset, which provides data of a lidar and two stereo camera systems mounted on a vehicle. Our evaluation confirms the short run time, state-of-the-art accuracy, as well as online capability of our approach while retaining the global optimality of the solution at any time. Comment: 8 pages, 6 figures, 2 tables, published in RA-L |
| نوع الوثيقة: | Working Paper |
| DOI: | 10.1109/LRA.2021.3056352 |
| URL الوصول: | http://arxiv.org/abs/2101.11440 |
| رقم الانضمام: | edsarx.2101.11440 |
| قاعدة البيانات: | arXiv |
| DOI: | 10.1109/LRA.2021.3056352 |
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