Automatic Calibration of Multiple Coplanar Sensors
This paper describes an algorithm for recovering the rigid 3-DOF transformation (offset and rotation) between pairs of sensors mounted rigidly in a common plane on a mobile robot. The algorithm requires only a set of sensor observations made as the robot moves along a suitable path. Our method does...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
MIT Press
2015
|
| Online Access: | http://hdl.handle.net/1721.1/93170 |
| _version_ | 1826202608791977984 |
|---|---|
| author | Brookshire, Jonathan David Teller, Seth |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Brookshire, Jonathan David Teller, Seth |
| author_sort | Brookshire, Jonathan David |
| collection | MIT |
| description | This paper describes an algorithm for recovering the rigid 3-DOF transformation (offset and rotation) between pairs of sensors mounted rigidly in a common plane on a mobile robot. The algorithm requires only a set of sensor observations made as the robot moves along a suitable path. Our method does not require synchronized sensors; nor does it require complete metrical reconstruction of the environment or the sensor path. We show that incremental pose measurements alone are sufficient to recover sensor calibration through nonlinear least squares estimation. We use the Fisher Information Matrix to compute a Cramer-Rao lower bound (CRLB) for the resulting calibration. Applying the algorithm in practice requires a non-degenerate motion path, a principled procedure for estimating per-sensopose displacements and their covariances, a way to temporally resample asynchronous sensor data, and a way to assess the quality of the recovered calibration. We give constructive methods for each step. We demonstrate and validate the end-to-end calibration procedure for both simulated and real LIDAR and inertial data, achieving CRLBs, and corresponding calibrations, accurate to millimeters and milliradians. Source code is available from http://rvsn.csail.mit.edu/calibration. |
| first_indexed | 2024-09-23T12:11:02Z |
| format | Article |
| id | mit-1721.1/93170 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T12:11:02Z |
| publishDate | 2015 |
| publisher | MIT Press |
| record_format | dspace |
| spelling | mit-1721.1/931702022-09-28T00:39:41Z Automatic Calibration of Multiple Coplanar Sensors Brookshire, Jonathan David Teller, Seth Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Brookshire, Jonathan David Teller, Seth This paper describes an algorithm for recovering the rigid 3-DOF transformation (offset and rotation) between pairs of sensors mounted rigidly in a common plane on a mobile robot. The algorithm requires only a set of sensor observations made as the robot moves along a suitable path. Our method does not require synchronized sensors; nor does it require complete metrical reconstruction of the environment or the sensor path. We show that incremental pose measurements alone are sufficient to recover sensor calibration through nonlinear least squares estimation. We use the Fisher Information Matrix to compute a Cramer-Rao lower bound (CRLB) for the resulting calibration. Applying the algorithm in practice requires a non-degenerate motion path, a principled procedure for estimating per-sensopose displacements and their covariances, a way to temporally resample asynchronous sensor data, and a way to assess the quality of the recovered calibration. We give constructive methods for each step. We demonstrate and validate the end-to-end calibration procedure for both simulated and real LIDAR and inertial data, achieving CRLBs, and corresponding calibrations, accurate to millimeters and milliradians. Source code is available from http://rvsn.csail.mit.edu/calibration. 2015-01-23T16:39:39Z 2015-01-23T16:39:39Z 2011-06 Article http://purl.org/eprint/type/ConferencePaper 2330-7668 2330-765X http://hdl.handle.net/1721.1/93170 Brookshire, Jonathan and Seth Teller. "Automatic Calibration of Multiple Coplanar Sensors." Robotics: Science and Systems (2011). en_US http://www.roboticsproceedings.org/rss07/p05.html Proceedings of Robotics: Science and Systems, RSS 2011 Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf MIT Press MIT web domain |
| spellingShingle | Brookshire, Jonathan David Teller, Seth Automatic Calibration of Multiple Coplanar Sensors |
| title | Automatic Calibration of Multiple Coplanar Sensors |
| title_full | Automatic Calibration of Multiple Coplanar Sensors |
| title_fullStr | Automatic Calibration of Multiple Coplanar Sensors |
| title_full_unstemmed | Automatic Calibration of Multiple Coplanar Sensors |
| title_short | Automatic Calibration of Multiple Coplanar Sensors |
| title_sort | automatic calibration of multiple coplanar sensors |
| url | http://hdl.handle.net/1721.1/93170 |
| work_keys_str_mv | AT brookshirejonathandavid automaticcalibrationofmultiplecoplanarsensors AT tellerseth automaticcalibrationofmultiplecoplanarsensors |