CalibNet: Geometrically Supervised Extrinsic Calibration using 3D Spatial Transformer Networks

@article{Iyer2018CalibNetGS,
  title={CalibNet: Geometrically Supervised Extrinsic Calibration using 3D Spatial Transformer Networks},
  author={Ganesh Iyer and R. KarnikRam and Krishna Murthy Jatavallabhula and K. Madhava Krishna},
  journal={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2018},
  pages={1110-1117}
}
  • Ganesh Iyer, R. KarnikRam, +1 author K. Madhava Krishna
  • Published 2018
  • Computer Science, Engineering
  • 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • 3D LiDARs and 2D cameras are increasingly being used alongside each other in sensor rigs for perception tasks. Before these sensors can be used to gather meaningful data, however, their extrinsics (and intrinsics) need to be accurately calibrated, as the performance of the sensor rig is extremely sensitive to these calibration parameters. A vast majority of existing calibration techniques require significant amounts of data and/or calibration targets and human effort, severely impacting their… CONTINUE READING

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