DocumentCode :
3709595
Title :
MSG-cal: Multi-sensor graph-based calibration
Author :
Jason L. Owens;Philip R. Osteen;Kostas Daniilidis
Author_Institution :
Army Research Laboratory, USA
fYear :
2015
fDate :
9/1/2015 12:00:00 AM
Firstpage :
3660
Lastpage :
3667
Abstract :
We present a system for determining a global solution for the relative poses between multiple sensors with different modalities and varying fields of view. The final calibration result produces a tree of transforms rooted at a single sensor that allows the fusion of the sensor streams into a shared coordinate frame. The method differs from other approaches by handling any number of sensors with only minimal constraints on their fields of view, producing a global solution that is better than any pairwise solution, and by simplifying the data collection process through automatic data association.
Keywords :
"Calibration","Sensor systems","Cameras","Data collection","Robot sensing systems","Sensor fusion"
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
Type :
conf
DOI :
10.1109/IROS.2015.7353889
Filename :
7353889
Link To Document :
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