Observability-Aware Active Calibration of Multi-Sensor Extrinsics for Ground Robots via Online Trajectory Optimization
Authors:
Jiang Wang†·Institute of Science Tokyo
Yaozhong Kang†·Southern University of Science and Technology
Linya Fu·Southern University of Science and Technology
Kazuhiro Nakadai·Institute of Science Tokyo
He Kong·Southern University of Science and Technology
We propose an observability-based active multi-sensor extrinsic calibration method, achieving high-precision sensor calibration through online trajectory optimization.
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IROS 2024 Presentation
