Certifiably Globally Optimal Extrinsic Calibration From Per-Sensor Egomotion

@article{Giamou2019CertifiablyGO,
  title={Certifiably Globally Optimal Extrinsic Calibration From Per-Sensor Egomotion},
  author={Matthew Giamou and Ziye Ma and Valentin Peretroukhin and Jonathan Kelly},
  journal={IEEE Robotics and Automation Letters},
  year={2019},
  volume={4},
  pages={367-374}
}
We present a certifiably globally optimal algorithm for determining the extrinsic calibration between two sensors that are capable of producing independent egomotion estimates. This problem has been previously solved using a variety of techniques, including local optimization approaches that have no formal global optimality guarantees. We use a quadratic objective function to formulate calibration as a quadratically constrained quadratic program (QCQP). By leveraging recent advances in the… 
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