Certifiably Optimal Monocular Hand-Eye Calibration

  title={Certifiably Optimal Monocular Hand-Eye Calibration},
  author={Emmett Wise and Matthew Giamou and Soroush Khoubyarian and Abhinav Grover and Jonathan Kelly},
  journal={2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
Correct fusion of data from two sensors requires an accurate estimate of their relative pose, which can be determined through the process of extrinsic calibration. When the sensors are capable of producing their own egomotion estimates (i.e., measurements of their trajectories through an environment), the ‘hand-eye’ formulation of extrinsic calibration can be employed. In this paper, we extend our recent work on a convex optimization approach for hand-eye calibration to the case where one of… 

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