Much of our localisation, perception and mapping work uses multiple sensors. Sometimes we are talking about simple sets of cameras but frequently we are dealing with combinations of inertial, laser and camera sensors. These sensors are deployed across the physical vehicle and we cannot a-priori be sure of their exact location relative to each other.  This is a problem because without  very accurate knowledge of this spatial calibration we cannot hope to leverage the advantages of multiple sensor perception.

There is also the issue of temporal calibration  – how do we figure out the time lags between multiple sensors and how do we figure out the rate of change of those lags?

These spatial and temporal calibration tasks are vital to our endeavour.  We need to be able calibrate any set of sensors and to do so on a continual basis  – we call this life-long calibration. We do not want to calibrate just once and hope for the best for all time to come. We want to be continually watching for opportunity  to improve our calibrations and spot changes in them.

 

Our latest research

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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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