Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs
2022
会议录名称IEEE INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS
ISSN2153-0858
卷号2022-October
页码2446-2453
发表状态已发表
DOI10.1109/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
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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
EISSN2153-0866
EI分类号961 Systems Science
原始文献类型Conference article (CA)
来源库IEEE
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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
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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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