An overview of robot-sensor calibration methods for evaluation of perception systems

Authors:
Mili Shah;Roger D. Eastman;Tsai Hong
Affiliations:
Loyola University Maryland, Baltimore, MD;Loyola University Maryland, Baltimore, MD;National Institute of Standards and Technology, Gaithersburg, MD
Venue:
Proceedings of the Workshop on Performance Metrics for Intelligent Systems
Year:
2012

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Abstract

In this paper, an overview of methods that solve the robotsensor calibration problem of the forms AX = XB and AX = YB is given. Each form will be split into three solutions: separable closed-form solutions, simultaneous closed-form solutions, and iterative solutions. The advantages and disadvantages of each of the solutions in the case of evaluation of perception systems will also be discussed.