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arXiv · 2305.01407

Extrinsic Infrastructure Calibration Using the Hand-Eye Robot-World Formulation

Markus Horn·Thomas Wodtko·Michael Buchholz·Klaus Dietmayer
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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.

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Markus Horn, Thomas Wodtko, Michael Buchholz, Klaus Dietmayer. 2023-05-02. Extrinsic Infrastructure Calibration Using the Hand-Eye Robot-World Formulation. https://doi.org/10.1109/iv55152.2023.10186703

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