2026-06-05T17:30:56Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/343422026-02-03T11:03:38Zcom_10630_2254col_10630_37953

00925njm 22002777a 4500 dc Zúñiga-Noël, David author Ruiz-Sarmiento, José Raúl author Gómez-Ojeda, Rubén author González-Jiménez, Antonio Javier author 2019-06-12 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. 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. https://hdl.handle.net/10630/34342 10.1109/LRA.2019.2922618 Robótica Detectores Automatic Multi-Sensor Extrinsic Calibration For Mobile Robots.