Observability-Aware Active Extrinsic Calibration of Multiple Sensors
Shida Xu,Jonatan Scharff Willners,Ziyang Hong,Kaicheng Zhang,Yvan R. Petillot,Sen Wang,Shida Xu,Jonatan Scharff Willners,Ziyang Hong,Kaicheng Zhang,Yvan R. Petillot,Sen Wang
The extrinsic parameters play a crucial role in multi-sensor fusion, such as visual-inertial Simultaneous Localization and Mapping(SLAM), as they enable the accurate alignment and integration of measurements from different sensors. However, extrinsic calibration is challenging in scenarios, such as underwater, where in-view structures are scanty and visibility is limited, causing incorrect extrins...
