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Certifiably Globally Optimal Extrinsic Calibration from Per-Sensor Egomotion [article]

Matthew Giamou, Ziye Ma, Valentin Peretroukhin, Jonathan Kelly
2018 arXiv   pre-print
We present a certifiably globally optimal algorithm for determining the extrinsic calibration between two sensors that are capable of producing independent egomotion estimates.  ...  This enables a variety of robotic platforms to rapidly and robustly compute and certify a globally optimal set of calibration parameters without a prior estimate or operator intervention.  ...  Extrinsic Calibration from Per-Sensor Egomotion Our problem formulation is closely related to that in [2] . Figure 2 displays the problem setup and relevant parameters.  ... 
arXiv:1809.03554v2 fatcat:aggjpvp5hjfw7gnf7gqg5z4guq

Online Extrinsic Calibration based on Per-Sensor Ego-Motion Using Dual Quaternions [article]

Markus Horn, Thomas Wodtko, Michael Buchholz, Klaus Dietmayer
2021 arXiv   pre-print
In this work, we propose an approach for extrinsic sensor calibration from per-sensor ego-motion estimates.  ...  We provide a certifiable globally optimal and a fast local approach along with a method to verify the globality of the local approach.  ...  CONCLUSION To conclude, we have described two optimization approaches for extrinsic calibration based on per-sensor egomotion.  ... 
arXiv:2101.11440v1 fatcat:nmklsqkzk5fg5oe4gqxn5hm7cy

Body-relative navigation guidance using uncalibrated cameras

Olivier Koch, Seth Teller
2009 2009 IEEE 12th International Conference on Computer Vision  
Much like other sensors, a camera requires calibration.  ...  Finally, the majority of SLAM algorithms assume full sensor calibration.  ... 
doi:10.1109/iccv.2009.5459327 dblp:conf/iccv/KochT09 fatcat:llmfvnut65avxg7lo4ewmhawmu

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
., +, LRA April 2019 1295-1302 Certifiably Globally Optimal Extrinsic Calibration From Per-Sensor Egomotion.  ...  Tallamraju, R., +, LRA Oct. 2019 4491-4498 Certifiably Globally Optimal Extrinsic Calibration From Per-Sensor Egomotion.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

Aerial robotics

Sylvain Bertrand, Julien Marzat, Helene Piet-Lahanier, Arthur Kahn, Yohan Rochefort, Pierre-Marie Basset, Arnault Tremolet, Thierry Lefebvre, Martial Sanfourche, Aurelien Plyer, Anthelme Bernard-Brunel, Guy Le Besnerais (+23 others)
now benefit from advanced technologies that were used before only for full scale aircraft.  ...  With the constant miniaturization and cost reduction of electronic components, such as inertial measurement units, vision sensors and micro-processors, aerial vehicles weighting only a few kilograms can  ...  A slight bias can be observed in the east and ψ components which indicate a slight error in the camera extrinsic calibration.  ... 
doi:10.12762/2014.al08 fatcat:7sd7a6c5j5buzl6xjci2gjsb4m

Issue 4-May 2012-Mastering Complexity: an Overview Mastering Complexity Mastering Complexity: an Overview

Claude Barrouil
Several algorithms, such as Efficient Global Optimization [36] , CMA-ES [31] , may present some interest in terms of calculation time reduction and optimization efficiency in the search for the global  ...  The idea is to register the current sensor output with a prior map of the environment tied to a global frame.  ...  Being in charge of several research projects related to numerical optimization, he has an experience of more than 10 years in applying local and global optimization methods for aerodynamic and multi-disciplinary  ...