Lost in translation (and rotation): Rapid extrinsic calibration for 2D and 3D LIDARs

@article{Maddern2012LostIT,
  title={Lost in translation (and rotation): Rapid extrinsic calibration for 2D and 3D LIDARs},
  author={William P. Maddern and Alastair Harrison and Paul Newman},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={3096-3102}
}
This paper describes a novel method for determining the extrinsic calibration parameters between 2D and 3D LIDAR sensors with respect to a vehicle base frame. To recover the calibration parameters we attempt to optimize the quality of a 3D point cloud produced by the vehicle as it traverses an unknown, unmodified environment. The point cloud quality metric is derived from Rényi Quadratic Entropy and quantifies the compactness of the point distribution using only a single tuning parameter. We… CONTINUE READING
Highly Cited
This paper has 53 citations. REVIEW CITATIONS
33 Citations
26 References
Similar Papers

Citations

Publications citing this paper.
Showing 1-10 of 33 extracted citations

54 Citations

01020'13'14'15'16'17'18
Citations per Year
Semantic Scholar estimates that this publication has 54 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-10 of 26 references

Special issue on the 2007 DARPA urban challenge, part II

  • M. Buehler, K. Iagnemma, S. Singh
  • Journal of Field Robotics, vol. 25, no. 9, pp…
  • 2008
Highly Influential
11 Excerpts

Similar Papers

Loading similar papers…