Pretražite po imenu i prezimenu autora, mentora, urednika, prevoditelja

Napredna pretraga

Pregled bibliografske jedinice broj: 1119898

Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking


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 (međunarodna recenzija, članak, znanstveni)


CROSBI ID: 1119898 Za ispravke kontaktirajte CROSBI podršku putem web obrasca

Naslov
Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking

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

Izvornik
Ieee transactions on robotics (1552-3098) 37 (2021), 5; 1401-1415

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Gaussian processes ; multisensor calibration ; temporal calibration

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Ivan Petrović (autor)

Avatar Url Ivan Marković (autor)

Avatar Url Luka Petrović (autor)

Avatar Url Juraj Peršić (autor)

Poveznice na cjeloviti tekst rada:

doi

Citiraj ovu publikaciju:

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 (međunarodna recenzija, članak, znanstveni)
Peršić, J., Petrović, L., Marković, I. & Petrović, I. (2021) Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking. Ieee transactions on robotics, 37 (5), 1401-1415 doi:10.1109/TRO.2021.3061364.
@article{article, year = {2021}, pages = {1401-1415}, DOI = {10.1109/TRO.2021.3061364}, keywords = {Gaussian processes, multisensor calibration, temporal calibration}, journal = {Ieee transactions on robotics}, doi = {10.1109/TRO.2021.3061364}, volume = {37}, number = {5}, issn = {1552-3098}, title = {Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking}, keyword = {Gaussian processes, multisensor calibration, temporal calibration} }
@article{article, year = {2021}, pages = {1401-1415}, DOI = {10.1109/TRO.2021.3061364}, keywords = {Gaussian processes, multisensor calibration, temporal calibration}, journal = {Ieee transactions on robotics}, doi = {10.1109/TRO.2021.3061364}, volume = {37}, number = {5}, issn = {1552-3098}, title = {Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking}, keyword = {Gaussian processes, multisensor calibration, temporal calibration} }

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus


Citati:





    Contrast
    Increase Font
    Decrease Font
    Dyslexic Font