Tutorial on quick and easy model fitting using the SLoM framework

Authors:
Christoph Hertzberg;René Wagner;Udo Frese
Affiliations:
SFB/TR8 --- Spatial Cognition, Reasoning, Action, Interaction, Universität Bremen, Bremen, Germany;SFB/TR8 --- Spatial Cognition, Reasoning, Action, Interaction, Universität Bremen, Bremen, Germany;SFB/TR8 --- Spatial Cognition, Reasoning, Action, Interaction, Universität Bremen, Bremen, Germany
Venue:
SC'12 Proceedings of the 2012 international conference on Spatial Cognition VIII
Year:
2012

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Abstract

In many areas of experimental science ranging from robotics to psychophysical research, to evaluation of spatial sensor-data and surveying, model fitting is a ubiquitous subproblem. Often it is not the actual scientific goal but rather the "necessary evil" of calibrating the equipment. This tutorial introduces methodology and a library allowing to solve model fitting problems easily without requiring the user to have an in-depth understanding of this subject. After a brief introduction to the theoretical background we guide the reader through using all main features of the SLoM C++ framework based on a stereo camera and inertial measurement unit (IMU) calibration example which is solved with less than 70 lines of non-problem specific code, and provide hints on applying SLoM to other classes of problems. The reader is only assumed to have a working knowledge of C++ and a basic understanding of statistics and 3D geometry.