A Novel Robust Approach for Correspondence-Free Extrinsic Calibration

Xiao Hu*, Daniel Olesen*, Knudsen Per*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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Abstract

Extrinsic calibration is a necessary step when using heterogeneous sensors for robotics applications. Most existing methods work under the assumption that the prior data correspondence is known. Considering data loss and false measurements, the correspondence may not be accessible in practice. To solve this problem without knowing the correspondence, several probabilistic methods have been proposed. However, an implicit restriction on input data limits their application. Therefore, in this paper, we propose a more stable correspondence-free method with two improvements that can relax the restrictions on inputs and improve the calibration accuracy. The first improvement finds consistent sets from raw inputs using screw invariants, which significantly improve the robustness in case of outliers and data loss. A new optimization method on matrix Lie group is proposed as the second improvement, which demonstrates better accuracy. The experimental results on both numerical and real data show the superiority and robustness of the proposed method.
Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Number of pages6
PublisherIEEE
Publication date2020
ISBN (Electronic)978-1-7281-4004-9
DOIs
Publication statusPublished - 2020
EventInternational Conference on Intelligent Robots and Systems (IROS 2019) - Macau, China
Duration: 3 Nov 20198 Nov 2019

Conference

ConferenceInternational Conference on Intelligent Robots and Systems (IROS 2019)
CountryChina
CityMacau
Period03/11/201908/11/2019

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