Automatic Multi-Sensor Extrinsic Calibration for Mobile Robots

Implementation of an automatic method to estimate the extrinsic calibration parameters of multiple sensors explicitly handling scale ambiguity from cameras.

Authors: David Zuñiga-Noël, Jose-Raul Ruiz-Sarmiento, Ruben Gomez-Ojeda, Javier Gonzalez-Jimenez

Related Publications: Automatic Multi-Sensor Extrinsic Calibration for Mobile Robots

License: GPLv3

1. Dependencies

• Boost (1.58.0.1ubuntu1)

  sudo apt install libboost-all-dev
  

• Ceres (1.14.0-facb199)

  See ceres documentation.

• CMake (3.5.1-1ubuntu1)

  sudo apt install cmake
  

• Eigen (3.3~beta1-2)

  sudo apt install libeigen3-dev
  

• Gflags (2.1.2-3)

  sudo apt install libgflags-dev
  

• Glog (0.3.4-0.1)

  sudo apt install libgoogle-glog-dev
  

2. Data Format

The input for the ground plane calibration are 3D point observations from the ground, in local sensor coordinates. The input is a csv text file as:

x,y,z

The input for the are synchronized per-sensor incremental 2D (coplanar) motions. For each sensor, incremental motions are grouped into a single text file, where each line contains a synchronized 2D incremental motion (angles in radians) in the following format:

x y yaw

Note: all sensors must have the same number of observations.

3. Usage

The multisensor calibration method can be invoked as:

calibrate [options] <motions1> <motions2> ...

Notes:

• The method calibrates all sensors with respect to a reference one. The reference sensor is assumed to be the one observing the first incremetal motions.

• Use the --scale_ambiguous=n,m,... option to indicate which motions have scale ambiguity.

4. Example