The Experts below are selected from a list of 3078 Experts worldwide ranked by ideXlab platform
Klaus Dietmayer - One of the best experts on this subject based on the ideXlab platform.
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online Extrinsic calibration based on per Sensor ego motion using dual quaternions
International Conference on Robotics and Automation, 2021Co-Authors: Markus Horn, Thomas Wodtko, Michael Buchholz, Klaus DietmayerAbstract:In this work, we propose an approach for Extrinsic Sensor calibration from per-Sensor ego-motion estimates. Our problem formulation is based on dual quaternions, enabling two different online capable solving approaches. We provide a certifiable globally optimal and a fast local approach along with a method to verify the globality of the local approach. Additionally, means for integrating previous knowledge, for example, a common ground plane for planar Sensor motion, are described. Our algorithms are evaluated on simulated data and on a publicly available dataset containing RGB-D camera images. Further, our online calibration approach is tested on the KITTI odometry dataset, which provides data of a lidar and two stereo camera systems mounted on a vehicle. Our evaluation confirms the short run time, state-of-the-art accuracy, as well as online capability of our approach while retaining the global optimality of the solution at any time.
Markus Horn - One of the best experts on this subject based on the ideXlab platform.
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online Extrinsic calibration based on per Sensor ego motion using dual quaternions
International Conference on Robotics and Automation, 2021Co-Authors: Markus Horn, Thomas Wodtko, Michael Buchholz, Klaus DietmayerAbstract:In this work, we propose an approach for Extrinsic Sensor calibration from per-Sensor ego-motion estimates. Our problem formulation is based on dual quaternions, enabling two different online capable solving approaches. We provide a certifiable globally optimal and a fast local approach along with a method to verify the globality of the local approach. Additionally, means for integrating previous knowledge, for example, a common ground plane for planar Sensor motion, are described. Our algorithms are evaluated on simulated data and on a publicly available dataset containing RGB-D camera images. Further, our online calibration approach is tested on the KITTI odometry dataset, which provides data of a lidar and two stereo camera systems mounted on a vehicle. Our evaluation confirms the short run time, state-of-the-art accuracy, as well as online capability of our approach while retaining the global optimality of the solution at any time.
Thomas Wodtko - One of the best experts on this subject based on the ideXlab platform.
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online Extrinsic calibration based on per Sensor ego motion using dual quaternions
International Conference on Robotics and Automation, 2021Co-Authors: Markus Horn, Thomas Wodtko, Michael Buchholz, Klaus DietmayerAbstract:In this work, we propose an approach for Extrinsic Sensor calibration from per-Sensor ego-motion estimates. Our problem formulation is based on dual quaternions, enabling two different online capable solving approaches. We provide a certifiable globally optimal and a fast local approach along with a method to verify the globality of the local approach. Additionally, means for integrating previous knowledge, for example, a common ground plane for planar Sensor motion, are described. Our algorithms are evaluated on simulated data and on a publicly available dataset containing RGB-D camera images. Further, our online calibration approach is tested on the KITTI odometry dataset, which provides data of a lidar and two stereo camera systems mounted on a vehicle. Our evaluation confirms the short run time, state-of-the-art accuracy, as well as online capability of our approach while retaining the global optimality of the solution at any time.
Michael Buchholz - One of the best experts on this subject based on the ideXlab platform.
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online Extrinsic calibration based on per Sensor ego motion using dual quaternions
International Conference on Robotics and Automation, 2021Co-Authors: Markus Horn, Thomas Wodtko, Michael Buchholz, Klaus DietmayerAbstract:In this work, we propose an approach for Extrinsic Sensor calibration from per-Sensor ego-motion estimates. Our problem formulation is based on dual quaternions, enabling two different online capable solving approaches. We provide a certifiable globally optimal and a fast local approach along with a method to verify the globality of the local approach. Additionally, means for integrating previous knowledge, for example, a common ground plane for planar Sensor motion, are described. Our algorithms are evaluated on simulated data and on a publicly available dataset containing RGB-D camera images. Further, our online calibration approach is tested on the KITTI odometry dataset, which provides data of a lidar and two stereo camera systems mounted on a vehicle. Our evaluation confirms the short run time, state-of-the-art accuracy, as well as online capability of our approach while retaining the global optimality of the solution at any time.
Cyrill Stachniss - One of the best experts on this subject based on the ideXlab platform.
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on geometric models and their accuracy for Extrinsic Sensor calibration
International Conference on Robotics and Automation, 2018Co-Authors: Kaihong Huang, Cyrill StachnissAbstract:Extrinsic Sensor calibration is an important task in robotics. There are various ways to perform the calibration task, but it often remains unclear which methods are better than the others. In this paper, we provide a systematic study about the calibration accuracy of three types of calibration methods, each represented by an abstract geometric model based on the Sensor configuration and the calibration setup. We discuss the advantages and disadvantages of each model and perform a rigorous study on their noise sensitivity from a geometric perspective. As a result, we can reveal and quantify the relative calibration accuracies of the three models, thus answering the question of “which model is better and why?”. Beside our analytical analysis, we also provide numerical simulation experiments that validate our findings.
