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Extrinsic Multi Sensor Calibration under Uncertainties
2019 IEEE Intelligent Transportation Systems Conference (ITSC), 2019Highly accurate extrinsic sensor calibration is crucial for environment perception of robots as it allows to fuse information from different sensors. On todays robotic platforms, e.g. autonomous cars, a variety of different sensors with different measurement characteristics is used.
Kühner, Tilman, Kümmerle, Julius
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Continuous extrinsic online calibration for stereo cameras
2016 IEEE Intelligent Vehicles Symposium (IV), 2016Accurate stereo camera calibration is crucial for 3D reconstruction from stereo images. In this paper, we propose an algorithm for continuous online recalibration of all extrinsic parameters of a stereo camera, which is rigidly mounted on an autonomous vehicle.
Georg R. Mueller, Hans-Joachim Wuensche
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IEEE Transactions on Instrumentation and Measurement
For those systems consisting of cameras and LiDAR, extrinsic calibration is unavoidable. Traditional methods usually start from a known initial pose and alternately optimize the extrinsic parameters of these sensors.
Le Zhou +3 more
semanticscholar +1 more source
For those systems consisting of cameras and LiDAR, extrinsic calibration is unavoidable. Traditional methods usually start from a known initial pose and alternately optimize the extrinsic parameters of these sensors.
Le Zhou +3 more
semanticscholar +1 more source
A Single 2-D LiDAR Extrinsic Calibration for Autonomous Mobile Robots
IEEE Transactions on Instrumentation and Measurement, 2023Autonomous mobile robots (AMRs) have revolutionized various aspects of our daily lives and manufacturing services. To enhance their efficiency, productivity, and safety, AMRs are equipped with advanced capacities such as object detection and tracking ...
Nguyen Van Toan, P. Khoi, Soo-Yeong Yi
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IEEE Robotics and Automation Letters
As solid-state LiDAR technology advances, mobile robotics and autonomous driving increasingly rely on multiple solid-state LiDARs for perception. However, limited or non-overlapping fields of view (FoV) among these sensors pose significant challenges for
Jie Xu +7 more
semanticscholar +1 more source
As solid-state LiDAR technology advances, mobile robotics and autonomous driving increasingly rely on multiple solid-state LiDARs for perception. However, limited or non-overlapping fields of view (FoV) among these sensors pose significant challenges for
Jie Xu +7 more
semanticscholar +1 more source
Vehicle-Motion-Constraint-Based Visual-Inertial-Odometer Fusion With Online Extrinsic Calibration
IEEE Sensors Journal, 2023Autonomous positioning in complex urban areas is a challenging problem and has attracted increasing attention in academia. Multisensor fusion of camera, inertial measurement unit (IMU), and wheel odometer has been a prevailing solution that is not only ...
Hang Zhao, Xinchun Ji, Dongyan Wei
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IEEE International Conference on Robotics and Automation, 2023
Accurate calibration is crucial for using multiple cameras to triangulate the position of objects precisely. However, it is also a time-consuming process that needs to be repeated for every displacement of the cameras.
T. Gossard +4 more
semanticscholar +1 more source
Accurate calibration is crucial for using multiple cameras to triangulate the position of objects precisely. However, it is also a time-consuming process that needs to be repeated for every displacement of the cameras.
T. Gossard +4 more
semanticscholar +1 more source
IEEE transactions on intelligent transportation systems (Print)
With the benefits of compact size and cost effectiveness, the solid-state LiDAR (SSL) has emerged as the preferred choice for the mass-produced vehicles with advanced driver assistance systems (ADAS). To ensure precise and dependable mapping for ADAS, it
Weikang Yang +3 more
semanticscholar +1 more source
With the benefits of compact size and cost effectiveness, the solid-state LiDAR (SSL) has emerged as the preferred choice for the mass-produced vehicles with advanced driver assistance systems (ADAS). To ensure precise and dependable mapping for ADAS, it
Weikang Yang +3 more
semanticscholar +1 more source
Extrinsic calibration of a set of 2D laser rangefinders
2015 IEEE International Conference on Robotics and Automation (ICRA), 2015The integration of several 2D laser rangefinders in a vehicle is a common resource employed for 3D mapping, obstacle detection and navigation. The extrinsic calibration between such sensors (i.e. finding their relative poses) is required to exploit effectively the sensor measurements and to perform data fusion. The approaches found in the literature to
Eduardo Fernández-Moral +2 more
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Odometry-based online extrinsic sensor calibration
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013In recent years vehicles have been equipped with more and more sensors for environment perception. Among these sensors are cameras, RADAR, single-layer and multi-layer LiDAR. One key challenge for the fusion of these sensors is sensor calibration. In this paper we present a novel extrinsic calibration algorithm based on sensor odometry.
Sebastian Schneider 0002 +2 more
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