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2018 | OriginalPaper | Buchkapitel

Evaluation of Combined Time-Offset Estimation and Hand-Eye Calibration on Robotic Datasets

verfasst von : Fadri Furrer, Marius Fehr, Tonci Novkovic, Hannes Sommer, Igor Gilitschenski, Roland Siegwart

Erschienen in: Field and Service Robotics

Verlag: Springer International Publishing

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Abstract

Using multiple sensors often requires the knowledge of static transformations between those sensors. If these transformations are unknown, hand-eye calibration is used to obtain them. Additionally, sensors are often unsynchronized, thus requiring time-alignment of measurements. This alignment can further be hindered by having sensors that fail at providing useful data over a certain time period. We present an end-to-end calibration framework to solve the hand-eye calibration. After an initial time-alignment step, we use the time-aligned pose estimates to perform the static transformation estimation based on different prefiltering methods, which are robust to outliers. In a final step, we employ a non-linear optimization to locally refine the calibration and time-alignment. Successful application of this estimation framework is demonstrated on multiple robotic systems with different sensor configurations. This framework is released as open source software together with the datasets.

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Fußnoten
2
For intrinsic camera calibration, the Kalibr framework (https://​github.​com/​ethz-asl/​kalibr) was used and we refer the reader to [7, 8, 16] for more details.
 
3
Traditional B-splines in parameter space are not equivariant with respect to transformations of the world and body frame. Therefore, for a given trajectory the local expressiveness of such a representation typically depends on where the trajectory is in that segment. Furthermore, they can go through ambiguous or unstable regions of the parameter space. The Lie-group valued B-splines we use are bi-equivariant [22] and are neither locally ambiguous nor unstable.
 
4
This is equivalent to least squares with a Cauchy loss function.
 
5
Approximated with zero-mean Cauchy distributions in the Lie algebra projected to SO(3) using the exponential map.
 
6
For absolute \(d_E, d_H\) the corresponding first measurements, \(i = 1\), are assumed to be dummy variables while the real measurements start with \(i=2\).
 
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Metadaten
Titel
Evaluation of Combined Time-Offset Estimation and Hand-Eye Calibration on Robotic Datasets
verfasst von
Fadri Furrer
Marius Fehr
Tonci Novkovic
Hannes Sommer
Igor Gilitschenski
Roland Siegwart
Copyright-Jahr
2018
Buch
Field and Service Robotics

Print ISBN: 978-3-319-67360-8

Electronic ISBN: 978-3-319-67361-5

Copyright-Jahr: 2018

DOI
https://doi.org/10.1007/978-3-319-67361-5_10

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