Intelligent vehicles are complex systems which often accommodate several sensors of different modalities. This paper proposes a general approach to the problem of extrinsic calibration of multiple sensors of varied modalities. Our approach is seamlessly integrated with the Robot Operating System (ROS) framework, and allows for the interactive positioning of sensors and labelling of data, facilitating the calibration process. The calibration problem is formulated as a simultaneous optimization for all sensors, in which the objective function accounts for the various sensor modalities. Results show that the proposed procedure produces accurate calibrations.


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    Title :

    A General Approach to the Extrinsic Calibration of Intelligent Vehicles Using ROS


    Additional title:

    Advs in Intelligent Syst., Computing



    Conference:

    Iberian Robotics conference ; 2019 ; Porto, Portugal November 20, 2019 - November 22, 2019



    Publication date :

    2019-11-20


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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