RT Journal Article
T1 Automatic Multi-Sensor Extrinsic Calibration For Mobile Robots.
A1 Zúñiga-Noël, David
A1 Ruiz-Sarmiento, José Raúl
A1 Gómez-Ojeda, Rubén
A1 González-Jiménez, Antonio Javier
K1 Robótica
K1 Detectores
AB In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformations. In this paper, we present a method to estimate the full 6DoF extrinsic calibration parameters of multiple hetero- geneous sensors (Lidars, Depth and RGB cameras) suitable for automatic execution on a mobile robot. Our method computes the 2D calibration parameters (x, y, yaw) through a motion-based approach, while for the remaining 3 parameters (z, pitch, roll) it requires the observation of the ground plane for a short period of time. What set this proposal apart from others is that: i) all calibration parameters are initialized in closed form, and ii) the scale ambiguity inherent to motion estimation from a monocular camera is explicitly handled, enabling the combination of these sensors and metric ones (Lidars, stereo rigs, etc.) within the same optimization framework. We provide a formal definition of the problem, as well as of the contributed method, for which a C++ implementation has been made publicly available. The suitability of the method has been assessed in simulation an with real data from indoor and outdoor scenarios. Finally, improvements over state-of-the-art motion-based calibration proposals are shown through experimental evaluation.
PB IEEE
YR 2019
FD 2019-06-12
LK https://hdl.handle.net/10630/34342
UL https://hdl.handle.net/10630/34342
LA eng
NO D. Zuñiga-Noël, J. -R. Ruiz-Sarmiento, R. Gomez-Ojeda and J. Gonzalez-Jimenez, "Automatic Multi-Sensor Extrinsic Calibration For Mobile Robots," in IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2862-2869, July 2019.
NO This work was supported by the research projects WISER (DPI2017-84827-R), funded by the Spanish Government and financed by the European Regional Develop- ment’s funds (FEDER), MoveCare (ICT-26-2016b-GA-732158), funded by the European H2020 program, the European Social Found through the Youth Employment Initiative for the promotion of young researchers, and by a contract from the I-PPIT program of the University of Malaga.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026