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

  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},
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
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