International Journal of Robotics Research
Camera Aided Robot Calibration
Camera Aided Robot Calibration
Introductory Techniques for 3-D Computer Vision
Introductory Techniques for 3-D Computer Vision
Robot Calibration
Computer Vision: A Modern Approach
Computer Vision: A Modern Approach
A Four-step Camera Calibration Procedure with Implicit Image Correction
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Multiple Camera Calibration with Bundled Optimization using Silhouette Geometry Constraints
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 03
Robotic Grasping of Novel Objects using Vision
International Journal of Robotics Research
High-accuracy 3D sensing for mobile manipulation: improving object detection and door opening
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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Many calibration methods calibrate a pair of sensors at a time. For robotic systems with many sensors, they are often time-consuming to use, and can also lead to inaccurate results. In this paper, we combine a number of ideas in the literature to derive a unified framework that jointly calibrates many sensors a large system. Key to our approach are (i) grouping sensors to produce 3D data, thereby providing a unifying formalism that allows us to jointly calibrate all of the groups at the same, (ii) using a variety of geometric constraints to perform the calibration, and (iii) sharing sensors between groups to increase robustness. We show that this gives a simple method that is easily applicable to calibrating large systems. Our experiments show that this method not only reduces calibration error, but also requires less human time.