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Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs | |
2022 | |
会议录名称 | IEEE INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS |
ISSN | 2153-0858 |
卷号 | 2022-October |
页码 | 2446-2453 |
发表状态 | 已发表 |
DOI | 10.1109/IROS47612.2022.9982031 |
摘要 | Spatiotemporal calibration of sensors, especially of those which do not share their fields of view, is becoming increasingly important in the fields of autonomous driving and robotics. This paper presents a general sensor calibration method, named Multical, that makes use of multiple planar calibration targets whose poses will be estimated alongside spatiotemporal calibration. Multical exploits continuous-time curves to represent the state of the sensor platform during data collection, and thus is a general framework to calibrate different kinds of sensors and deal with both spatial as well as temporal offsets. Multical includes algorithms to estimate the initial guesses of spatial transformations between sensors, and also the relative poses between calibration targets. Users do not need to provide any extrinsic priors. We apply the proposed calibration approach to both simulated and real-world experiments, and the results demonstrate the high fidelity of the proposed method. © 2022 IEEE. |
会议录编者/会议主办者 | et al. ; HERO Lab. ; LionsBot ; Sony ; Technology Innovation Institute (TII) ; VisionNav |
关键词 | Continuous time systems Autonomous driving Autonomous robotics Calibration method Calibration targets Continous time Data collection Field of views Sensor calibration Sensor platform Time curves |
会议名称 | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 |
会议地点 | Kyoto, Japan |
会议日期 | October 23, 2022 - October 27, 2022 |
URL | 查看原文 |
收录类别 | EI |
语种 | 英语 |
出版者 | Institute of Electrical and Electronics Engineers Inc. |
EI入藏号 | 20230313406218 |
EI主题词 | Calibration |
EISSN | 2153-0866 |
EI分类号 | 961 Systems Science |
原始文献类型 | Conference article (CA) |
来源库 | IEEE |
引用统计 | 正在获取...
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文献类型 | 会议论文 |
条目标识符 | https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/282044 |
专题 | 信息科学与技术学院 信息科学与技术学院_博士生 |
通讯作者 | Zhi, Xiangyang |
作者单位 | 1.NIO Inc.; 2.University of Chinese Academy of Sciences, Beijing; 100049, China; 3.School of Information Science and Technology, ShanghaiTech University, Shanghai; 201210, China; 4.University of Chinese Academy of Sciences, Beijing; 100049, China; 5.Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai; 200050, China; 6.School of Information Science Technology of Shanghai, Tech University, China |
推荐引用方式 GB/T 7714 | Zhi, Xiangyang,Hou, Jiawei,Lu, Yiren,et al. Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs[C]//et al., HERO Lab., LionsBot, Sony, Technology Innovation Institute (TII), VisionNav:Institute of Electrical and Electronics Engineers Inc.,2022:2446-2453. |
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