Extrinsic sensor calibration methods for mobile robots: A short review

• Type: Article in International Conference Proceedings Book
• Date: 2021

Authors

Sousa, RB (Author) FEUP; Marcelo R. Petry (Author) Other; António Paulo Moreira (Author) FEUP

Conference proceedings International

Title: Lecture Notes in Electrical Engineering

Pages: 559-569

14th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2020

1 July 2020 through 3 July 2020

Indexing

Scopus - 0 Citations

Other information

Authenticus ID: P-00S-Q48

DOI: 10.1007/978-3-030-58653-9_54

Abstract (EN): Data acquisition is a critical task for localisation and perception of mobile robots. It is necessary to compute the relative pose between onboard sensors to process the data in a common frame. Thus, extrinsic calibration computes the sensor¿s relative pose improving data consistency between them. This paper performs a literature review on extrinsic sensor calibration methods prioritising the most recent ones. The sensors types considered were laser scanners, cameras and IMUs. It was found methods for robot¿laser, laser¿laser, laser¿camera, robot¿camera, camera¿camera, camera¿IMU, IMU¿IMU and laser¿IMU calibration. The analysed methods allow the full calibration of a sensory system composed of lasers, cameras and IMUs. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 11