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