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Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking (CROSBI ID 292934)

Prilog u časopisu | izvorni znanstveni rad | međunarodna recenzija

Peršić, Juraj ; Petrović, Luka ; Marković, Ivan ; Petrović, Ivan Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking // Ieee transactions on robotics, 37 (2021), 5; 1401-1415. doi: 10.1109/TRO.2021.3061364

Podaci o odgovornosti

Peršić, Juraj ; Petrović, Luka ; Marković, Ivan ; Petrović, Ivan

engleski

Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking

Robust and reliable perception of autonomous systems often relies on fusion of heterogeneous sensors, which poses great challenges for multisensor calibration. In this article, we propose a method for multisensor calibration based on Gaussian processes (GPs) estimated moving target trajectories, resulting with spatiotemporal calibration. Unlike competing approaches, the proposed method is characterized by the following: first, joint multisensor on-manifold spatiotemporal optimization framework, second, batch state estimation and interpolation using GPs, and, third, computational efficiency with O(n) complexity. It only re-quires that all sensors can track the same target. The method is validated in simulation and real-world experiments on the following five different multisensor setups: first, hardware triggered stereo camera, second, camera and motion capture system, third, camera and automotive radar, fourth, camera and rotating 3-D lidar, and, fifth, camera, 3-D lidar, and the motion capture system. The method estimates time delays with the accuracy up to a fraction of the fastest sensor sampling time, outperforming a state-of-the-art ego-motion method. Furthermore, this article is complemented by an open-source toolbox implementing the calibration method available at bitbucket.org/unizg-fer-lamor/calirad.

Gaussian processes ; multisensor calibration ; temporal calibration

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Podaci o izdanju

37 (5)

2021.

1401-1415

objavljeno

1552-3098

1941-0468

10.1109/TRO.2021.3061364

Povezanost rada

Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

Poveznice
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