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Lost in translation (and rotation): Rapid extrinsic calibration for 2D and 3D LIDARs

Abstract:

This paper describes a novel method for determining 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 cloud quality metric is derived from Rényi Quadratic Entropy and quantifies the compactness of the point distribution using only a single tuning parameter. We ...

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Publisher copy:
10.1109/ICRA.2012.6224607

Authors


Maddern, W More by this author
Harrison, A More by this author
Journal:
Proceedings - IEEE International Conference on Robotics and Automation
Pages:
3096-3102
Publication date:
2012
DOI:
ISSN:
1050-4729
URN:
uuid:50780fd4-e66f-4047-8d62-1bd3699f7fe0
Source identifiers:
348862
Local pid:
pubs:348862
Language:
English

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