Extrinsic calibration of multimodal sensor arrang

Authors: Carolina Raposo João Pedro Barreto Urbano Nunes

Publish Date: 2016/11/11

Volume: 28, Issue: 1-2, Pages: 141-155

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Abstract

Several applications in robotics require complex sensor arrangements that must be carefully calibrated both intrinsically and extrinsically to allow information fusion and enable the system to function as a whole These arrangements can combine different sensing modalities—such as color cameras laserrangefinders and depth cameras—in an attempt to obtain richer descriptions of the environment Finding the location of multimodal sensors in a common world reference frame is a difficult problem that is largely unsolved whenever sensors observe distinct disjoint parts of the scene This article builds on recent results in object pose estimation using mirror reflections to provide an accurate and practical solution for the extrinsic calibration of mixtures of color cameras LRFs and depth cameras with nonoverlapping fieldofview The method is able to calibrate any possible sensor combination as far as the setup includes at least one color camera The technique is tested in challenging situations not covered by the current stateoftheart proving to be practical and effective The calibration software is made available to be freely used by the research community

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