Automated vehicle technology has recently become reliant on 3D LiDAR sensing for
perception tasks such as map**, localization and object detection. This has led to a rapid …

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 …

We present a certifiably globally optimal algorithm for determining the extrinsic calibration
between two sensors that are capable of producing independent egomotion estimates. This …

Mobile robots perceive and move through the three-dimensional space of the approximately
Euclidean world we share with them. In order to safely and accurately accomplish their …

We present a novel approach for mobile manipulator self-calibration using contact
information. Our method, based on point cloud registration, is applied to estimate the …

Monocular cameras and planar lidar sensors are complementary. While monocular visual
odometry (VO) is a relatively low-drift method for measuring platform egomotion, it suffers …

When using a GNSS/INS sensor to provide poses to combine LiDAR scans over time,
knowing the extrinsic calibration between this GNSS/INS sensor and the LiDAR device is …

2D-Lidars have been widely used in mobile robotics and autonomous vehicles for their
precise measurement of distance. To effectively utilize the measurement of the sensor and …