Automatic Self-Calibration Of A Full Field-Of-View 3D n-Laser Scanner

Abstract - This paper describes the design, build, automatic self-calibration and evaluation of a 3D Laser sensor using conventional parts. Our goal is to design a system, which is an order of magnitude cheaper than commercial systems, with commensurate performance. In this paper we adopt point cloud “crispness” as the measure of system performance that we [...]

Self-calibration for a 3D laser

Abstract—This paper describes a method for the automatic self-calibration of a 3D Laser sensor. We wish to acquire crisp point clouds and so we adopt a measure of crispness to capture point cloud quality. We then pose the calibration problem as the task of maximising point cloud quality. Concretely, we use Rényi Quadratic Entropy to [...]

TICSync: Knowing When Things Happened

  Modern robotic systems are composed of many distributed processes sharing a common communications infrastructure. High-bandwidth sensor data is often collected on one computer and served to many consumers. It is vital that every device on the network agrees on how time is measured. If not, sensor data may be at best inconsistent and at [...]

Cross-Calibration of Push-Broom 2D LIDARs and Cameras In Natural Scenes

Abstract— This paper addresses the problem of automatically estimating the relative pose between a push-broom LIDAR and a camera without the need for artificial calibration targets or other human intervention. Further we do not require the sensors to have an overlapping field of view, it is enough that they observe the same scene but at [...]

Lost in Translation (and Rotation): Fast Extrinsic Calibration for 2D and 3D LIDARs

Abstract—This paper describes a novel method for deter- mining the extrinsic calibration parameters between 2D and 3D LIDAR sensors with respect to a vehicle base frame. To recover the calibration parameters we attempt to optimize the quality of a 3D point cloud produced by the vehicle as it traverses an unknown, unmodified environment. The point [...]