학술논문
Extrinsic Infrastructure Calibration Using the Hand-Eye Robot-World Formulation
Document Type
Conference
Source
2023 IEEE Intelligent Vehicles Symposium (IV) Intelligent Vehicles Symposium (IV), 2023 IEEE. :1-8 Jun, 2023
Subject
Language
ISSN
2642-7214
Abstract
We propose a certifiably globally optimal approach for solving the hand-eye robot-world problem supporting multiple sensors and targets at once. Further, we leverage this formulation for estimating a geo-referenced calibration of infrastructure sensors. Since vehicle motion recorded by infrastructure sensors is mostly planar, obtaining a unique solution for the respective hand-eye robot-world problem is unfeasible without incorporating additional knowledge. Hence, we extend our proposed method to include a-priori knowledge, i.e., the translation norm of calibration targets, to yield a unique solution. Our approach achieves state-of-the-art results on simulated and real-world data. Especially on real-world intersection data, our approach utilizing the translation norm is the only method providing accurate results.